Hugging Face's logo

Datasets:
HugMinjun
/
geo4d_evals

Modalities:
Image
Formats:
imagefolder
Size:
10K - 100K
Libraries:
Datasets
Dataset card Data Studio Files
xet
 Community
1
geo4d_evals / dycheck_eval /source /handwavy /transforms.json
HugMinjun's picture
HugMinjun
Add files using upload-large-folder tool
9758a1b verified
Raw History Blame Contribute Delete
225 kB
{
"format_version": "1.0",
"camera_model": "opencv_pinhole",
"pose_type": "c2w",
"coordinate_system": "opencv",
"image_hw": [
480,
832
],
"num_frames": 303,
"frames": [
{
"frame_index": 0,
"c2w": [
[
1.0,
1.2836007812211392e-09,
-4.67462868414259e-09,
-2.600973214583746e-09
],
[
1.2836007812211392e-09,
-1.0,
5.113266254852533e-09,
-9.684036683665909e-09
],
[
-4.67462868414259e-09,
-5.113266254852533e-09,
-1.0,
1.6903838329085374e-09
],
[
0.0,
0.0,
0.0,
1.0
]
],
"intrinsics": {
"fx": 840.3358127170138,
"fy": 841.1146225527108,
"cx": 418.7178548177083,
"cy": 231.04991057981925
}
},
{
"frame_index": 1,
"c2w": [
[
0.9999998807907104,
0.0004918089834973216,
0.00018620199989527464,
0.00044328460353426635
],
[
0.0004917343612760305,
-0.9999998211860657,
0.00040074880234897137,
7.373616244876757e-05
],
[
0.00018639904737938195,
-0.000400657212594524,
-0.9999998807907104,
2.155621950805653e-05
],
[
0.0,
0.0,
0.0,
1.0
]
],
"intrinsics": {
"fx": 840.3358127170138,
"fy": 841.1146225527108,
"cx": 418.7178548177083,
"cy": 231.04991057981925
}
},
{
"frame_index": 2,
"c2w": [
[
0.9999995231628418,
0.0006744138663634658,
0.0007078794878907502,
0.000655106850899756
],
[
0.0006736927898600698,
-0.9999992251396179,
0.0010184008860960603,
-2.7485141345096054e-06
],
[
0.00070856575621292,
-0.001017923466861248,
-0.9999992251396179,
0.00031580537324771285
],
[
0.0,
0.0,
0.0,
1.0
]
],
"intrinsics": {
"fx": 840.3358127170138,
"fy": 841.1146225527108,
"cx": 418.7178548177083,
"cy": 231.04991057981925
}
},
{
"frame_index": 3,
"c2w": [
[
0.9999992251396179,
0.0009406917379237711,
0.0008049911702983081,
0.0007036697352305055
],
[
0.0009394186781719327,
-0.9999983310699463,
0.0015803712885826826,
-8.717849414097145e-05
],
[
0.0008064764551818371,
-0.0015796138904988766,
-0.9999984502792358,
0.0005134394741617143
],
[
0.0,
0.0,
0.0,
1.0
]
],
"intrinsics": {
"fx": 840.3358127170138,
"fy": 841.1146225527108,
"cx": 418.7178548177083,
"cy": 231.04991057981925
}
},
{
"frame_index": 4,
"c2w": [
[
0.9999989867210388,
0.0006919658626429737,
-0.0012452341616153717,
0.0008841503295116127
],
[
0.0006942289764992893,
-0.9999980926513672,
0.001817918149754405,
-0.0001720584841677919
],
[
-0.0012439738493412733,
-0.0018187807872891426,
-0.9999975562095642,
0.0004888417315669358
],
[
0.0,
0.0,
0.0,
1.0
]
],
"intrinsics": {
"fx": 840.3358127170138,
"fy": 841.1146225527108,
"cx": 418.7178548177083,
"cy": 231.04991057981925
}
},
{
"frame_index": 5,
"c2w": [
[
0.9999916553497314,
-0.0004319076833780855,
-0.0040636081248521805,
0.0009898890275508165
],
[
-0.0004287423798814416,
-0.9999995827674866,
0.0007797791040502489,
-0.00011003985855495557
],
[
-0.004063943400979042,
-0.0007780303712934256,
-0.9999914169311523,
0.00010692497016862035
],
[
0.0,
0.0,
0.0,
1.0
]
],
"intrinsics": {
"fx": 840.3358127170138,
"fy": 841.1146225527108,
"cx": 418.7178548177083,
"cy": 231.04991057981925
}
},
{
"frame_index": 6,
"c2w": [
[
0.9999781250953674,
-0.0012653882149606943,
-0.006494665984064341,
0.0009313274058513343
],
[
-0.0012737452052533627,
-0.9999983906745911,
-0.001282772864215076,
0.00017580912390258163
],
[
-0.006493031978607178,
0.0012910173973068595,
-0.9999780654907227,
-0.0004737062263302505
],
[
0.0,
0.0,
0.0,
1.0
]
],
"intrinsics": {
"fx": 840.3358127170138,
"fy": 841.1146225527108,
"cx": 418.7178548177083,
"cy": 231.04991057981925
}
},
{
"frame_index": 7,
"c2w": [
[
0.9999538660049438,
-0.002340908395126462,
-0.009316160343587399,
0.0008744918159209192
],
[
-0.002369312569499016,
-0.9999925494194031,
-0.003039028961211443,
0.00042884351569227874
],
[
-0.00930897705256939,
0.0030609616078436375,
-0.999951958656311,
-0.0008322488283738494
],
[
0.0,
0.0,
0.0,
1.0
]
],
"intrinsics": {
"fx": 840.3358127170138,
"fy": 841.1146225527108,
"cx": 418.7178548177083,
"cy": 231.04991057981925
}
},
{
"frame_index": 8,
"c2w": [
[
0.9999447464942932,
-0.0036361583042889833,
-0.009861144237220287,
0.0007871586713008583
],
[
-0.0036752820014953613,
-0.9999854564666748,
-0.003952237777411938,
0.0007741354638710618
],
[
-0.009846629574894905,
0.003988262265920639,
-0.9999435544013977,
-0.001007517916150391
],
[
0.0,
0.0,
0.0,
1.0
]
],
"intrinsics": {
"fx": 840.3358127170138,
"fy": 841.1146225527108,
"cx": 418.7178548177083,
"cy": 231.04991057981925
}
},
{
"frame_index": 9,
"c2w": [
[
0.9999552965164185,
-0.005095444619655609,
-0.00796635914593935,
0.0007153176120482385
],
[
-0.005122597794979811,
-0.9999811053276062,
-0.0033918304834514856,
0.0010781243909150362
],
[
-0.007948926649987698,
0.0034324873704463243,
-0.9999625086784363,
-0.0007108118152245879
],
[
0.0,
0.0,
0.0,
1.0
]
],
"intrinsics": {
"fx": 840.3358127170138,
"fy": 841.1146225527108,
"cx": 418.7178548177083,
"cy": 231.04991057981925
}
},
{
"frame_index": 10,
"c2w": [
[
0.9999486207962036,
-0.006735445000231266,
-0.0075760334730148315,
0.0009188476833514869
],
[
-0.0067503429017961025,
-0.999975323677063,
-0.0019426016369834542,
0.0011223681503906846
],
[
-0.007562762126326561,
0.0019936426542699337,
-0.9999694228172302,
-0.0001512078451924026
],
[
0.0,
0.0,
0.0,
1.0
]
],
"intrinsics": {
"fx": 840.3358127170138,
"fy": 841.1146225527108,
"cx": 418.7178548177083,
"cy": 231.04991057981925
}
},
{
"frame_index": 11,
"c2w": [
[
0.9999364614486694,
-0.007474258542060852,
-0.008436741307377815,
0.0010053340811282396
],
[
-0.007479011546820402,
-0.999971866607666,
-0.000531960919033736,
0.001215247088111937
],
[
-0.008432528004050255,
0.0005950256017968059,
-0.9999642968177795,
0.0005566271138377488
],
[
0.0,
0.0,
0.0,
1.0
]
],
"intrinsics": {
"fx": 840.3358127170138,
"fy": 841.1146225527108,
"cx": 418.7178548177083,
"cy": 231.04991057981925
}
},
{
"frame_index": 12,
"c2w": [
[
0.9999234676361084,
-0.008174581453204155,
-0.009284905157983303,
0.0011529721086844802
],
[
-0.008164419792592525,
-0.999966025352478,
0.0011317846365272999,
0.0012214661110192537
],
[
-0.009293842129409313,
-0.0010558920912444592,
-0.9999562501907349,
0.0014520991826429963
],
[
0.0,
0.0,
0.0,
1.0
]
],
"intrinsics": {
"fx": 840.3358127170138,
"fy": 841.1146225527108,
"cx": 418.7178548177083,
"cy": 231.04991057981925
}
},
{
"frame_index": 13,
"c2w": [
[
0.9999129772186279,
-0.00898317527025938,
-0.009662513621151447,
0.001603806740604341
],
[
-0.00895819440484047,
-0.9999564290046692,
0.0026255163829773664,
0.0014504597056657076
],
[
-0.009685678407549858,
-0.002538729226216674,
-0.9999498724937439,
0.0027753522153943777
],
[
0.0,
0.0,
0.0,
1.0
]
],
"intrinsics": {
"fx": 840.3358127170138,
"fy": 841.1146225527108,
"cx": 418.7178548177083,
"cy": 231.04991057981925
}
},
{
"frame_index": 14,
"c2w": [
[
0.999910831451416,
-0.009583563543856144,
-0.009298832155764103,
0.001845610560849309
],
[
-0.009552672505378723,
-0.9999487400054932,
0.003360771108418703,
0.0014286242658272386
],
[
-0.009330563247203827,
-0.003271642606705427,
-0.9999511241912842,
0.003530429443344474
],
[
0.0,
0.0,
0.0,
1.0
]
],
"intrinsics": {
"fx": 840.3358127170138,
"fy": 841.1146225527108,
"cx": 418.7178548177083,
"cy": 231.04991057981925
}
},
{
"frame_index": 15,
"c2w": [
[
0.9999037384986877,
-0.009386979043483734,
-0.010219914838671684,
0.0020515196956694126
],
[
-0.009346898645162582,
-0.9999484419822693,
0.003962513990700245,
0.0013290897477418184
],
[
-0.01025658380240202,
-0.003866607788950205,
-0.9999399185180664,
0.004112187307327986
],
[
0.0,
0.0,
0.0,
1.0
]
],
"intrinsics": {
"fx": 840.3358127170138,
"fy": 841.1146225527108,
"cx": 418.7178548177083,
"cy": 231.04991057981925
}
},
{
"frame_index": 16,
"c2w": [
[
0.999910295009613,
-0.009495547972619534,
-0.00944510754197836,
0.001825640327297151
],
[
-0.009445380419492722,
-0.9999411106109619,
0.005342018324881792,
0.000810439873021096
],
[
-0.00949527695775032,
-0.005252326373010874,
-0.9999411106109619,
0.004408377688378096
],
[
0.0,
0.0,
0.0,
1.0
]
],
"intrinsics": {
"fx": 840.3358127170138,
"fy": 841.1146225527108,
"cx": 418.7178548177083,
"cy": 231.04991057981925
}
},
{
"frame_index": 17,
"c2w": [
[
0.999932587146759,
-0.009014422073960304,
-0.007321991492062807,
0.001805618405342102
],
[
-0.008967531844973564,
-0.9999392628669739,
0.006411713548004627,
0.000386558473110199
],
[
-0.007379344664514065,
-0.006345620844513178,
-0.9999526143074036,
0.004969194531440735
],
[
0.0,
0.0,
0.0,
1.0
]
],
"intrinsics": {
"fx": 840.3358127170138,
"fy": 841.1146225527108,
"cx": 418.7178548177083,
"cy": 231.04991057981925
}
},
{
"frame_index": 18,
"c2w": [
[
0.9999551177024841,
-0.007297351025044918,
-0.006037815473973751,
0.0016885098302736878
],
[
-0.007251359522342682,
-0.999944806098938,
0.007604366168379784,
-0.00019577814964577556
],
[
-0.006092973984777927,
-0.007560242433100939,
-0.9999528527259827,
0.005566490348428488
],
[
0.0,
0.0,
0.0,
1.0
]
],
"intrinsics": {
"fx": 840.3358127170138,
"fy": 841.1146225527108,
"cx": 418.7178548177083,
"cy": 231.04991057981925
}
},
{
"frame_index": 19,
"c2w": [
[
0.9999824166297913,
-0.005130360834300518,
-0.0029694412369281054,
0.0014568365877494216
],
[
-0.005104057490825653,
-0.999948263168335,
0.008798778057098389,
-0.000869107258040458
],
[
-0.0030144285410642624,
-0.008783468045294285,
-0.9999569058418274,
0.0061529758386313915
],
[
0.0,
0.0,
0.0,
1.0
]
],
"intrinsics": {
"fx": 840.3358127170138,
"fy": 841.1146225527108,
"cx": 418.7178548177083,
"cy": 231.04991057981925
}
},
{
"frame_index": 20,
"c2w": [
[
0.9999942779541016,
-0.0029776890296489,
0.0016099674394354224,
0.0011281792540103197
],
[
-0.0029939147643744946,
-0.9999437928199768,
0.010171549394726753,
-0.001927959150634706
],
[
0.001579589326865971,
-0.010176311247050762,
-0.9999469518661499,
0.006729522719979286
],
[
0.0,
0.0,
0.0,
1.0
]
],
"intrinsics": {
"fx": 840.3358127170138,
"fy": 841.1146225527108,
"cx": 418.7178548177083,
"cy": 231.04991057981925
}
},
{
"frame_index": 21,
"c2w": [
[
0.9999934434890747,
-0.0014678753213956952,
0.0033117099665105343,
0.0009727824362926185
],
[
-0.0015051154186949134,
-0.9999353289604187,
0.011270632036030293,
-0.003212111536413431
],
[
0.003294951980933547,
-0.01127554289996624,
-0.9999309778213501,
0.00708029605448246
],
[
0.0,
0.0,
0.0,
1.0
]
],
"intrinsics": {
"fx": 840.3358127170138,
"fy": 841.1146225527108,
"cx": 418.7178548177083,
"cy": 231.04991057981925
}
},
{
"frame_index": 22,
"c2w": [
[
0.9999954104423523,
-0.0002358917990932241,
0.0030179673340171576,
0.0009416364482603967
],
[
-0.0002673537819646299,
-0.9999455809593201,
0.010428739711642265,
-0.004527849145233631
],
[
0.003015343099832535,
-0.010429498739540577,
-0.9999410510063171,
0.00724749593064189
],
[
0.0,
0.0,
0.0,
1.0
]
],
"intrinsics": {
"fx": 840.3358127170138,
"fy": 841.1146225527108,
"cx": 418.7178548177083,
"cy": 231.04991057981925
}
},
{
"frame_index": 23,
"c2w": [
[
0.9999986290931702,
0.00162084202747792,
-0.00024571552057750523,
0.000977898365817964
],
[
0.0016227804590016603,
-0.9999658465385437,
0.008105120621621609,
-0.005694416351616383
],
[
-0.00023257001885212958,
-0.008105508983135223,
-0.999967098236084,
0.006738226395100355
],
[
0.0,
0.0,
0.0,
1.0
]
],
"intrinsics": {
"fx": 840.3358127170138,
"fy": 841.1146225527108,
"cx": 418.7178548177083,
"cy": 231.04991057981925
}
},
{
"frame_index": 24,
"c2w": [
[
0.999991774559021,
0.002444673329591751,
-0.003228676738217473,
0.0012072942918166518
],
[
0.0024661978241056204,
-0.9999746680259705,
0.006679535377770662,
-0.00680795032531023
],
[
-0.00321226567029953,
-0.006687443237751722,
-0.9999724626541138,
0.006054128985852003
],
[
0.0,
0.0,
0.0,
1.0
]
],
"intrinsics": {
"fx": 840.3358127170138,
"fy": 841.1146225527108,
"cx": 418.7178548177083,
"cy": 231.04991057981925
}
},
{
"frame_index": 25,
"c2w": [
[
0.9999725222587585,
0.002873157849535346,
-0.006835984531790018,
0.001385718584060669
],
[
0.00291948183439672,
-0.9999727606773376,
0.0067761787213385105,
-0.007792949676513672
],
[
-0.006816329434514046,
-0.0067959497682750225,
-0.9999536871910095,
0.005289152264595032
],
[
0.0,
0.0,
0.0,
1.0
]
],
"intrinsics": {
"fx": 840.3358127170138,
"fy": 841.1146225527108,
"cx": 418.7178548177083,
"cy": 231.04991057981925
}
},
{
"frame_index": 26,
"c2w": [
[
0.9999561309814453,
0.0023220861330628395,
-0.00907424371689558,
0.0018954322440549731
],
[
0.0023827487602829933,
-0.9999748468399048,
0.006680058781057596,
-0.008225375786423683
],
[
-0.009058503434062004,
-0.006701387465000153,
-0.9999365210533142,
0.004053189884871244
],
[
0.0,
0.0,
0.0,
1.0
]
],
"intrinsics": {
"fx": 840.3358127170138,
"fy": 841.1146225527108,
"cx": 418.7178548177083,
"cy": 231.04991057981925
}
},
{
"frame_index": 27,
"c2w": [
[
0.9999448657035828,
0.0015330538153648376,
-0.010386068373918533,
0.002500769915059209
],
[
0.0015810963232070208,
-0.9999880790710449,
0.004619034007191658,
-0.008206577971577644
],
[
-0.010378862731158733,
-0.004635200835764408,
-0.9999353885650635,
0.002231077989563346
],
[
0.0,
0.0,
0.0,
1.0
]
],
"intrinsics": {
"fx": 840.3358127170138,
"fy": 841.1146225527108,
"cx": 418.7178548177083,
"cy": 231.04991057981925
}
},
{
"frame_index": 28,
"c2w": [
[
0.999933123588562,
0.0008544092415831983,
-0.011532393284142017,
0.003017979208379984
],
[
0.0008592047379352152,
-0.9999995231628418,
0.00041087958379648626,
-0.008167681284248829
],
[
-0.011532037518918514,
-0.00042076079989783466,
-0.9999334216117859,
0.0003716234350576997
],
[
0.0,
0.0,
0.0,
1.0
]
],
"intrinsics": {
"fx": 840.3358127170138,
"fy": 841.1146225527108,
"cx": 418.7178548177083,
"cy": 231.04991057981925
}
},
{
"frame_index": 29,
"c2w": [
[
0.9998937249183655,
0.00028807250782847404,
-0.014577132649719715,
0.004184034653007984
],
[
0.00023045807029120624,
-0.9999921321868896,
-0.003953910432755947,
-0.008032957091927528
],
[
-0.014578157104551792,
0.00395013066008687,
-0.9998859167098999,
-0.0015964267076924443
],
[
0.0,
0.0,
0.0,
1.0
]
],
"intrinsics": {
"fx": 840.3358127170138,
"fy": 841.1146225527108,
"cx": 418.7178548177083,
"cy": 231.04991057981925
}
},
{
"frame_index": 30,
"c2w": [
[
0.9998533725738525,
-0.0016100903740152717,
-0.017049577087163925,
0.005981934256851673
],
[
-0.0017249280354008079,
-0.9999759197235107,
-0.0067229485139250755,
-0.008206995204091072
],
[
-0.017038341611623764,
0.006751372013241053,
-0.999832034111023,
-0.003015501657500863
],
[
0.0,
0.0,
0.0,
1.0
]
],
"intrinsics": {
"fx": 840.3358127170138,
"fy": 841.1146225527108,
"cx": 418.7178548177083,
"cy": 231.04991057981925
}
},
{
"frame_index": 31,
"c2w": [
[
0.9998059272766113,
-0.0042661139741539955,
-0.01923437789082527,
0.008566168136894703
],
[
-0.004419493488967419,
-0.9999586939811707,
-0.007938805967569351,
-0.00889650173485279
],
[
-0.019199715927243233,
0.008022272028028965,
-0.999783456325531,
-0.0039376672357320786
],
[
0.0,
0.0,
0.0,
1.0
]
],
"intrinsics": {
"fx": 840.3358127170138,
"fy": 841.1146225527108,
"cx": 418.7178548177083,
"cy": 231.04991057981925
}
},
{
"frame_index": 32,
"c2w": [
[
0.9997254014015198,
-0.006975280120968819,
-0.02237040176987648,
0.01155834086239338
],
[
-0.007173590827733278,
-0.9999355673789978,
-0.00879689957946539,
-0.009561453945934772
],
[
-0.02230759896337986,
0.00895495992153883,
-0.9997110366821289,
-0.004545253235846758
],
[
0.0,
0.0,
0.0,
1.0
]
],
"intrinsics": {
"fx": 840.3358127170138,
"fy": 841.1146225527108,
"cx": 418.7178548177083,
"cy": 231.04991057981925
}
},
{
"frame_index": 33,
"c2w": [
[
0.9996594786643982,
-0.009971539489924908,
-0.024115415289998055,
0.015095571056008339
],
[
-0.010215614922344685,
-0.9998975992202759,
-0.010019219480454922,
-0.010213685221970081
],
[
-0.024013038724660873,
0.010262161493301392,
-0.99965900182724,
-0.005066652316600084
],
[
0.0,
0.0,
0.0,
1.0
]
],
"intrinsics": {
"fx": 840.3358127170138,
"fy": 841.1146225527108,
"cx": 418.7178548177083,
"cy": 231.04991057981925
}
},
{
"frame_index": 34,
"c2w": [
[
0.9996310472488403,
-0.013755307532846928,
-0.0234217569231987,
0.018857287243008614
],
[
-0.014021112583577633,
-0.9998387098312378,
-0.01122245006263256,
-0.01101569551974535
],
[
-0.023263610899448395,
0.011546707712113857,
-0.9996626973152161,
-0.005592201370745897
],
[
0.0,
0.0,
0.0,
1.0
]
],
"intrinsics": {
"fx": 840.3358127170138,
"fy": 841.1146225527108,
"cx": 418.7178548177083,
"cy": 231.04991057981925
}
},
{
"frame_index": 35,
"c2w": [
[
0.9995548129081726,
-0.016531554982066154,
-0.02483638934791088,
0.02325369231402874
],
[
-0.016833126544952393,
-0.9997864961624146,
-0.011982693336904049,
-0.01147879846394062
],
[
-0.024632994085550308,
0.012395433150231838,
-0.999619722366333,
-0.006152166053652763
],
[
0.0,
0.0,
0.0,
1.0
]
],
"intrinsics": {
"fx": 840.3358127170138,
"fy": 841.1146225527108,
"cx": 418.7178548177083,
"cy": 231.04991057981925
}
},
{
"frame_index": 36,
"c2w": [
[
0.9995899796485901,
-0.019752565771341324,
-0.020729217678308487,
0.027907291427254677
],
[
-0.020021701231598854,
-0.9997168779373169,
-0.01285712979733944,
-0.011803646571934223
],
[
-0.020469387993216515,
0.013266893103718758,
-0.9997024536132812,
-0.006830309052020311
],
[
0.0,
0.0,
0.0,
1.0
]
],
"intrinsics": {
"fx": 840.3358127170138,
"fy": 841.1146225527108,
"cx": 418.7178548177083,
"cy": 231.04991057981925
}
},
{
"frame_index": 37,
"c2w": [
[
0.9996299743652344,
-0.02242370694875717,
-0.01539858989417553,
0.03276539221405983
],
[
-0.022637950256466866,
-0.999647319316864,
-0.013882688246667385,
-0.011851610615849495
],
[
-0.0150818582624197,
0.014226144179701805,
-0.9997850656509399,
-0.008197596296668053
],
[
0.0,
0.0,
0.0,
1.0
]
],
"intrinsics": {
"fx": 840.3358127170138,
"fy": 841.1146225527108,
"cx": 418.7178548177083,
"cy": 231.04991057981925
}
},
{
"frame_index": 38,
"c2w": [
[
0.9996547698974609,
-0.02380240522325039,
-0.011126825585961342,
0.03785823658108711
],
[
-0.023973513394594193,
-0.9995923042297363,
-0.015506143681704998,
-0.011947738006711006
],
[
-0.010753205977380276,
0.0157675389200449,
-0.9998178482055664,
-0.009453816339373589
],
[
0.0,
0.0,
0.0,
1.0
]
],
"intrinsics": {
"fx": 840.3358127170138,
"fy": 841.1146225527108,
"cx": 418.7178548177083,
"cy": 231.04991057981925
}
},
{
"frame_index": 39,
"c2w": [
[
0.999668300151825,
-0.02524627558887005,
-0.00509309396147728,
0.04329099878668785
],
[
-0.02533104084432125,
-0.9995289444923401,
-0.01732838712632656,
-0.01207745261490345
],
[
-0.004653217736631632,
0.017451651394367218,
-0.9998368620872498,
-0.010724348947405815
],
[
0.0,
0.0,
0.0,
1.0
]
],
"intrinsics": {
"fx": 840.3358127170138,
"fy": 841.1146225527108,
"cx": 418.7178548177083,
"cy": 231.04991057981925
}
},
{
"frame_index": 40,
"c2w": [
[
0.9996187090873718,
-0.027369745075702667,
0.003644546028226614,
0.04893549159169197
],
[
-0.027299270033836365,
-0.9994624257087708,
-0.018155990168452263,
-0.012223993428051472
],
[
0.004139511846005917,
0.01804957538843155,
-0.9998285174369812,
-0.011986847966909409
],
[
0.0,
0.0,
0.0,
1.0
]
],
"intrinsics": {
"fx": 840.3358127170138,
"fy": 841.1146225527108,
"cx": 418.7178548177083,
"cy": 231.04991057981925
}
},
{
"frame_index": 41,
"c2w": [
[
0.9994850158691406,
-0.029628602787852287,
0.012320369482040405,
0.05515136942267418
],
[
-0.029389534145593643,
-0.9993845224380493,
-0.019152529537677765,
-0.012559855356812477
],
[
0.012880249880254269,
0.018780577927827835,
-0.9997406601905823,
-0.013454480096697807
],
[
0.0,
0.0,
0.0,
1.0
]
],
"intrinsics": {
"fx": 840.3358127170138,
"fy": 841.1146225527108,
"cx": 418.7178548177083,
"cy": 231.04991057981925
}
},
{
"frame_index": 42,
"c2w": [
[
0.9992467761039734,
-0.032804083079099655,
0.020731033757328987,
0.06183421239256859
],
[
-0.03236185386776924,
-0.9992488026618958,
-0.02131897583603859,
-0.013106340542435646
],
[
0.02141481079161167,
0.020632022991776466,
-0.9995577931404114,
-0.015233619138598442
],
[
0.0,
0.0,
0.0,
1.0
]
],
"intrinsics": {
"fx": 840.3358127170138,
"fy": 841.1146225527108,
"cx": 418.7178548177083,
"cy": 231.04991057981925
}
},
{
"frame_index": 43,
"c2w": [
[
0.9990518093109131,
-0.036133021116256714,
0.024286378175020218,
0.06881348788738251
],
[
-0.03554251790046692,
-0.9990721940994263,
-0.02432134747505188,
-0.013769146986305714
],
[
0.025142649188637733,
0.023435087874531746,
-0.9994091391563416,
-0.017617758363485336
],
[
0.0,
0.0,
0.0,
1.0
]
],
"intrinsics": {
"fx": 840.3358127170138,
"fy": 841.1146225527108,
"cx": 418.7178548177083,
"cy": 231.04991057981925
}
},
{
"frame_index": 44,
"c2w": [
[
0.9988758563995361,
-0.03932960331439972,
0.026461796835064888,
0.07588180899620056
],
[
-0.038567401468753815,
-0.9988431334495544,
-0.028722921386361122,
-0.01436239667236805
],
[
0.027560845017433167,
0.02767006866633892,
-0.9992371201515198,
-0.020667461678385735
],
[
0.0,
0.0,
0.0,
1.0
]
],
"intrinsics": {
"fx": 840.3358127170138,
"fy": 841.1146225527108,
"cx": 418.7178548177083,
"cy": 231.04991057981925
}
},
{
"frame_index": 45,
"c2w": [
[
0.9984543323516846,
-0.044043295085430145,
0.033899638801813126,
0.08277009427547455
],
[
-0.04285416007041931,
-0.9984666705131531,
-0.03504003956913948,
-0.014764268882572651
],
[
0.0353909395635128,
0.033533137291669846,
-0.9988107681274414,
-0.023982789367437363
],
[
0.0,
0.0,
0.0,
1.0
]
],
"intrinsics": {
"fx": 840.3358127170138,
"fy": 841.1146225527108,
"cx": 418.7178548177083,
"cy": 231.04991057981925
}
},
{
"frame_index": 46,
"c2w": [
[
0.9978854060173035,
-0.04940401390194893,
0.042236730456352234,
0.088858962059021
],
[
-0.047644615173339844,
-0.9979937672615051,
-0.04169434681534767,
-0.01527078915387392
],
[
0.04421186447143555,
0.03959382697939873,
-0.9982372522354126,
-0.02717568352818489
],
[
0.0,
0.0,
0.0,
1.0
]
],
"intrinsics": {
"fx": 840.3358127170138,
"fy": 841.1146225527108,
"cx": 418.7178548177083,
"cy": 231.04991057981925
}
},
{
"frame_index": 47,
"c2w": [
[
0.9976615309715271,
-0.053357191383838654,
0.042713697999715805,
0.09462670981884003
],
[
-0.051269661635160446,
-0.9975035190582275,
-0.04856092110276222,
-0.01556157786399126
],
[
0.04519813880324364,
0.04625744745135307,
-0.997906506061554,
-0.03039282187819481
],
[
0.0,
0.0,
0.0,
1.0
]
],
"intrinsics": {
"fx": 840.3358127170138,
"fy": 841.1146225527108,
"cx": 418.7178548177083,
"cy": 231.04991057981925
}
},
{
"frame_index": 48,
"c2w": [
[
0.9973441958427429,
-0.0576334185898304,
0.04453017935156822,
0.09957700967788696
],
[
-0.055164922028779984,
-0.9969720244407654,
-0.054805319756269455,
-0.015835855156183243
],
[
0.04755396023392677,
0.05220326408743858,
-0.9975035786628723,
-0.033080440014600754
],
[
0.0,
0.0,
0.0,
1.0
]
],
"intrinsics": {
"fx": 840.3358127170138,
"fy": 841.1146225527108,
"cx": 418.7178548177083,
"cy": 231.04991057981925
}
},
{
"frame_index": 49,
"c2w": [
[
0.9968489408493042,
-0.06275179237127304,
0.04852276295423508,
0.10330772399902344
],
[
-0.05985516309738159,
-0.9964615106582642,
-0.05900712311267853,
-0.01645706035196781
],
[
0.052053868770599365,
0.05591684952378273,
-0.9970775842666626,
-0.03515038639307022
],
[
0.0,
0.0,
0.0,
1.0
]
],
"intrinsics": {
"fx": 840.3358127170138,
"fy": 841.1146225527108,
"cx": 418.7178548177083,
"cy": 231.04991057981925
}
},
{
"frame_index": 50,
"c2w": [
[
0.9963164329528809,
-0.06892946362495422,
0.05101283639669418,
0.106623575091362
],
[
-0.06569749861955643,
-0.9958783984184265,
-0.06253071129322052,
-0.017175229266285896
],
[
0.05511279031634331,
0.058948956429958344,
-0.9967384934425354,
-0.036746345460414886
],
[
0.0,
0.0,
0.0,
1.0
]
],
"intrinsics": {
"fx": 840.3358127170138,
"fy": 841.1146225527108,
"cx": 418.7178548177083,
"cy": 231.04991057981925
}
},
{
"frame_index": 51,
"c2w": [
[
0.9959182143211365,
-0.0748438909649849,
0.05045100674033165,
0.1090165376663208
],
[
-0.07152289152145386,
-0.995338499546051,
-0.06469760835170746,
-0.01808958686888218
],
[
0.05505804717540741,
0.06082512065768242,
-0.9966287612915039,
-0.03781846910715103
],
[
0.0,
0.0,
0.0,
1.0
]
],
"intrinsics": {
"fx": 840.3358127170138,
"fy": 841.1146225527108,
"cx": 418.7178548177083,
"cy": 231.04991057981925
}
},
{
"frame_index": 52,
"c2w": [
[
0.9953957200050354,
-0.07966501265764236,
0.05329931154847145,
0.10992920398712158
],
[
-0.07610757648944855,
-0.9949300289154053,
-0.06574106961488724,
-0.019112901762127876
],
[
0.058266349136829376,
0.06138189882040024,
-0.9964122176170349,
-0.037858881056308746
],
[
0.0,
0.0,
0.0,
1.0
]
],
"intrinsics": {
"fx": 840.3358127170138,
"fy": 841.1146225527108,
"cx": 418.7178548177083,
"cy": 231.04991057981925
}
},
{
"frame_index": 53,
"c2w": [
[
0.9950084090232849,
-0.0822092741727829,
0.05656806007027626,
0.1094217449426651
],
[
-0.07841844111680984,
-0.994716465473175,
-0.06625480949878693,
-0.019868914037942886
],
[
0.06171594187617302,
0.061488110572099686,
-0.9961979389190674,
-0.037870895117521286
],
[
0.0,
0.0,
0.0,
1.0
]
],
"intrinsics": {
"fx": 840.3358127170138,
"fy": 841.1146225527108,
"cx": 418.7178548177083,
"cy": 231.04991057981925
}
},
{
"frame_index": 54,
"c2w": [
[
0.9950169920921326,
-0.08234403282403946,
0.05621965974569321,
0.10760694742202759
],
[
-0.07859965413808823,
-0.9947291016578674,
-0.06584913283586502,
-0.020512493327260017
],
[
0.06134561821818352,
0.061102163046598434,
-0.9962445497512817,
-0.03766467422246933
],
[
0.0,
0.0,
0.0,
1.0
]
],
"intrinsics": {
"fx": 840.3358127170138,
"fy": 841.1146225527108,
"cx": 418.7178548177083,
"cy": 231.04991057981925
}
},
{
"frame_index": 55,
"c2w": [
[
0.9951225519180298,
-0.08169317245483398,
0.05529352277517319,
0.10471510887145996
],
[
-0.07802093029022217,
-0.9947911500930786,
-0.0655999556183815,
-0.02124914713203907
],
[
0.06036457419395447,
0.06096593663096428,
-0.9963128566741943,
-0.03767877072095871
],
[
0.0,
0.0,
0.0,
1.0
]
],
"intrinsics": {
"fx": 840.3358127170138,
"fy": 841.1146225527108,
"cx": 418.7178548177083,
"cy": 231.04991057981925
}
},
{
"frame_index": 56,
"c2w": [
[
0.9953324794769287,
-0.07927236706018448,
0.055037882179021835,
0.10043329000473022
],
[
-0.07563601434230804,
-0.9949964880943298,
-0.06527765095233917,
-0.021578380838036537
],
[
0.059937212616205215,
0.06081011891365051,
-0.9963481426239014,
-0.03715067356824875
],
[
0.0,
0.0,
0.0,
1.0
]
],
"intrinsics": {
"fx": 840.3358127170138,
"fy": 841.1146225527108,
"cx": 418.7178548177083,
"cy": 231.04991057981925
}
},
{
"frame_index": 57,
"c2w": [
[
0.9955248832702637,
-0.0757017433643341,
0.05656319484114647,
0.09497156739234924
],
[
-0.07202562689781189,
-0.9953198432922363,
-0.0644260123372078,
-0.02168639935553074
],
[
0.0611756294965744,
0.06006370112299919,
-0.9963181614875793,
-0.03655918687582016
],
[
0.0,
0.0,
0.0,
1.0
]
],
"intrinsics": {
"fx": 840.3358127170138,
"fy": 841.1146225527108,
"cx": 418.7178548177083,
"cy": 231.04991057981925
}
},
{
"frame_index": 58,
"c2w": [
[
0.9955216646194458,
-0.07168397307395935,
0.061627838760614395,
0.08881095051765442
],
[
-0.06767135113477707,
-0.9955943822860718,
-0.06490351259708405,
-0.021644914522767067
],
[
0.06600886583328247,
0.06044241413474083,
-0.9959867000579834,
-0.03699430078268051
],
[
0.0,
0.0,
0.0,
1.0
]
],
"intrinsics": {
"fx": 840.3358127170138,
"fy": 841.1146225527108,
"cx": 418.7178548177083,
"cy": 231.04991057981925
}
},
{
"frame_index": 59,
"c2w": [
[
0.9952887296676636,
-0.06664977222681046,
0.07041376829147339,
0.08124920725822449
],
[
-0.06203286349773407,
-0.9959002137184143,
-0.06583810597658157,
-0.021210262551903725
],
[
0.07451318204402924,
0.06115996092557907,
-0.9953427910804749,
-0.0367063507437706
],
[
0.0,
0.0,
0.0,
1.0
]
],
"intrinsics": {
"fx": 840.3358127170138,
"fy": 841.1146225527108,
"cx": 418.7178548177083,
"cy": 231.04991057981925
}
},
{
"frame_index": 60,
"c2w": [
[
0.9949601292610168,
-0.061998847872018814,
0.07880648970603943,
0.07304245233535767
],
[
-0.05686575919389725,
-0.9962117075920105,
-0.06579171121120453,
-0.020656395703554153
],
[
0.08258695900440216,
0.06097874045372009,
-0.9947165250778198,
-0.03613690659403801
],
[
0.0,
0.0,
0.0,
1.0
]
],
"intrinsics": {
"fx": 840.3358127170138,
"fy": 841.1146225527108,
"cx": 418.7178548177083,
"cy": 231.04991057981925
}
},
{
"frame_index": 61,
"c2w": [
[
0.9950164556503296,
-0.05725224316120148,
0.08163623511791229,
0.06504897773265839
],
[
-0.052076004445552826,
-0.9965782761573792,
-0.0641854777932167,
-0.019872363656759262
],
[
0.085031658411026,
0.05961431562900543,
-0.9945932626724243,
-0.035592105239629745
],
[
0.0,
0.0,
0.0,
1.0
]
],
"intrinsics": {
"fx": 840.3358127170138,
"fy": 841.1146225527108,
"cx": 418.7178548177083,
"cy": 231.04991057981925
}
},
{
"frame_index": 62,
"c2w": [
[
0.99486243724823,
-0.05478492006659508,
0.08513099700212479,
0.05633370205760002
],
[
-0.04950031638145447,
-0.9967855215072632,
-0.06299477070569992,
-0.01922658272087574
],
[
0.08830850571393967,
0.05845712125301361,
-0.9943763613700867,
-0.03487279266119003
],
[
0.0,
0.0,
0.0,
1.0
]
],
"intrinsics": {
"fx": 840.3358127170138,
"fy": 841.1146225527108,
"cx": 418.7178548177083,
"cy": 231.04991057981925
}
},
{
"frame_index": 63,
"c2w": [
[
0.9951021075248718,
-0.0530092716217041,
0.08343780785799026,
0.04757193848490715
],
[
-0.047805748879909515,
-0.9968569278717041,
-0.06317350268363953,
-0.018478194251656532
],
[
0.08652433753013611,
0.058875277638435364,
-0.9945085644721985,
-0.03456296771764755
],
[
0.0,
0.0,
0.0,
1.0
]
],
"intrinsics": {
"fx": 840.3358127170138,
"fy": 841.1146225527108,
"cx": 418.7178548177083,
"cy": 231.04991057981925
}
},
{
"frame_index": 64,
"c2w": [
[
0.9953699111938477,
-0.052760738879442215,
0.08034335821866989,
0.03913107141852379
],
[
-0.04752200469374657,
-0.9967020750045776,
-0.0657772645354271,
-0.017321566119790077
],
[
0.08354884386062622,
0.06165463104844093,
-0.9945945143699646,
-0.03470509499311447
],
[
0.0,
0.0,
0.0,
1.0
]
],
"intrinsics": {
"fx": 840.3358127170138,
"fy": 841.1146225527108,
"cx": 418.7178548177083,
"cy": 231.04991057981925
}
},
{
"frame_index": 65,
"c2w": [
[
0.9950081706047058,
-0.05702824890613556,
0.08189328759908676,
0.03110319934785366
],
[
-0.05130200460553169,
-0.9961985349655151,
-0.07040312886238098,
-0.016379477456212044
],
[
0.08559694141149521,
0.0658503994345665,
-0.9941513538360596,
-0.035171814262866974
],
[
0.0,
0.0,
0.0,
1.0
]
],
"intrinsics": {
"fx": 840.3358127170138,
"fy": 841.1146225527108,
"cx": 418.7178548177083,
"cy": 231.04991057981925
}
},
{
"frame_index": 66,
"c2w": [
[
0.9946818947792053,
-0.06325141340494156,
0.08128431439399719,
0.023604830726981163
],
[
-0.057197123765945435,
-0.9955591559410095,
-0.07476935535669327,
-0.015524530783295631
],
[
0.08565261214971542,
0.0697224959731102,
-0.9938824772834778,
-0.03599943965673447
],
[
0.0,
0.0,
0.0,
1.0
]
],
"intrinsics": {
"fx": 840.3358127170138,
"fy": 841.1146225527108,
"cx": 418.7178548177083,
"cy": 231.04991057981925
}
},
{
"frame_index": 67,
"c2w": [
[
0.9943438172340393,
-0.07067260891199112,
0.07928310334682465,
0.01646057516336441
],
[
-0.06442225724458694,
-0.9948064684867859,
-0.07880239188671112,
-0.014719724655151367
],
[
0.08444051444530487,
0.07324907183647156,
-0.9937325716018677,
-0.03708016872406006
],
[
0.0,
0.0,
0.0,
1.0
]
],
"intrinsics": {
"fx": 840.3358127170138,
"fy": 841.1146225527108,
"cx": 418.7178548177083,
"cy": 231.04991057981925
}
},
{
"frame_index": 68,
"c2w": [
[
0.9928328394889832,
-0.08040357381105423,
0.0884205549955368,
0.009122692048549652
],
[
-0.07320644706487656,
-0.9939538836479187,
-0.08183243870735168,
-0.01391169335693121
],
[
0.09446557611227036,
0.07477298378944397,
-0.9927160739898682,
-0.0376775898039341
],
[
0.0,
0.0,
0.0,
1.0
]
],
"intrinsics": {
"fx": 840.3358127170138,
"fy": 841.1146225527108,
"cx": 418.7178548177083,
"cy": 231.04991057981925
}
},
{
"frame_index": 69,
"c2w": [
[
0.9909017086029053,
-0.08899813890457153,
0.10096097737550735,
0.0012571860570460558
],
[
-0.08082861453294754,
-0.9933231472969055,
-0.08231593668460846,
-0.012817161157727242
],
[
0.10761284083127975,
0.07340647280216217,
-0.9914791584014893,
-0.03778225928544998
],
[
0.0,
0.0,
0.0,
1.0
]
],
"intrinsics": {
"fx": 840.3358127170138,
"fy": 841.1146225527108,
"cx": 418.7178548177083,
"cy": 231.04991057981925
}
},
{
"frame_index": 70,
"c2w": [
[
0.9890096783638,
-0.0962500125169754,
0.11223086714744568,
-0.0070279790088534355
],
[
-0.0872097909450531,
-0.9927377700805664,
-0.08286219090223312,
-0.011402362957596779
],
[
0.1193913146853447,
0.07216387987136841,
-0.9902212619781494,
-0.03752090781927109
],
[
0.0,
0.0,
0.0,
1.0
]
],
"intrinsics": {
"fx": 840.3358127170138,
"fy": 841.1146225527108,
"cx": 418.7178548177083,
"cy": 231.04991057981925
}
},
{
"frame_index": 71,
"c2w": [
[
0.9861238598823547,
-0.10436729341745377,
0.12910158932209015,
-0.015626607462763786
],
[
-0.09421706199645996,
-0.9921364784240723,
-0.08239176869392395,
-0.009822149761021137
],
[
0.13668540120124817,
0.06908491253852844,
-0.9882025718688965,
-0.036897849291563034
],
[
0.0,
0.0,
0.0,
1.0
]
],
"intrinsics": {
"fx": 840.3358127170138,
"fy": 841.1146225527108,
"cx": 418.7178548177083,
"cy": 231.04991057981925
}
},
{
"frame_index": 72,
"c2w": [
[
0.9832397103309631,
-0.11090536415576935,
0.14470557868480682,
-0.02456817589700222
],
[
-0.09995590895414352,
-0.9916989803314209,
-0.08088225871324539,
-0.008062426932156086
],
[
0.15247465670108795,
0.06506247073411942,
-0.9861634373664856,
-0.03610461577773094
],
[
0.0,
0.0,
0.0,
1.0
]
],
"intrinsics": {
"fx": 840.3358127170138,
"fy": 841.1146225527108,
"cx": 418.7178548177083,
"cy": 231.04991057981925
}
},
{
"frame_index": 73,
"c2w": [
[
0.9803609848022461,
-0.11636317521333694,
0.15922296047210693,
-0.0330701544880867
],
[
-0.10470516979694366,
-0.9912986159324646,
-0.07977364212274551,
-0.006218122784048319
],
[
0.16712021827697754,
0.06153549626469612,
-0.9840143322944641,
-0.03571368008852005
],
[
0.0,
0.0,
0.0,
1.0
]
],
"intrinsics": {
"fx": 840.3358127170138,
"fy": 841.1146225527108,
"cx": 418.7178548177083,
"cy": 231.04991057981925
}
},
{
"frame_index": 74,
"c2w": [
[
0.9771437644958496,
-0.1221417784690857,
0.17398701608181,
-0.041984062641859055
],
[
-0.10970717668533325,
-0.9907865524291992,
-0.0794125497341156,
-0.004168813116848469
],
[
0.18208357691764832,
0.05850985273718834,
-0.9815407395362854,
-0.03521142527461052
],
[
0.0,
0.0,
0.0,
1.0
]
],
"intrinsics": {
"fx": 840.3358127170138,
"fy": 841.1146225527108,
"cx": 418.7178548177083,
"cy": 231.04991057981925
}
},
{
"frame_index": 75,
"c2w": [
[
0.9747703671455383,
-0.12795059382915497,
0.18289732933044434,
-0.0504799485206604
],
[
-0.11471551656723022,
-0.9900707602500916,
-0.08124156296253204,
-0.0019402600592002273
],
[
0.19147621095180511,
0.05821070075035095,
-0.9797695279121399,
-0.035181380808353424
],
[
0.0,
0.0,
0.0,
1.0
]
],
"intrinsics": {
"fx": 840.3358127170138,
"fy": 841.1146225527108,
"cx": 418.7178548177083,
"cy": 231.04991057981925
}
},
{
"frame_index": 76,
"c2w": [
[
0.9721317291259766,
-0.1352774202823639,
0.19146791100502014,
-0.05809282884001732
],
[
-0.12098585814237595,
-0.9890498518943787,
-0.08451506495475769,
0.0003884635807480663
],
[
0.20080429315567017,
0.05899486318230629,
-0.9778533577919006,
-0.035368554294109344
],
[
0.0,
0.0,
0.0,
1.0
]
],
"intrinsics": {
"fx": 840.3358127170138,
"fy": 841.1146225527108,
"cx": 418.7178548177083,
"cy": 231.04991057981925
}
},
{
"frame_index": 77,
"c2w": [
[
0.9698337912559509,
-0.14319950342178345,
0.1972721368074417,
-0.0654568001627922
],
[
-0.1280173808336258,
-0.9878831505775452,
-0.08774071931838989,
0.0027026659809052944
],
[
0.20744624733924866,
0.059839654713869095,
-0.9764145016670227,
-0.03567769378423691
],
[
0.0,
0.0,
0.0,
1.0
]
],
"intrinsics": {
"fx": 840.3358127170138,
"fy": 841.1146225527108,
"cx": 418.7178548177083,
"cy": 231.04991057981925
}
},
{
"frame_index": 78,
"c2w": [
[
0.9671651124954224,
-0.15223908424377441,
0.2035064697265625,
-0.07215540111064911
],
[
-0.13593555986881256,
-0.9864455461502075,
-0.0919058695435524,
0.004930936731398106
],
[
0.21473972499370575,
0.06122438237071037,
-0.9747504591941833,
-0.03604314103722572
],
[
0.0,
0.0,
0.0,
1.0
]
],
"intrinsics": {
"fx": 840.3358127170138,
"fy": 841.1146225527108,
"cx": 418.7178548177083,
"cy": 231.04991057981925
}
},
{
"frame_index": 79,
"c2w": [
[
0.963854968547821,
-0.16225939989089966,
0.21131835877895355,
-0.07815587520599365
],
[
-0.14460068941116333,
-0.9847636222839355,
-0.09659858793020248,
0.006988580338656902
],
[
0.22377265989780426,
0.06255024671554565,
-0.972632110118866,
-0.03652461990714073
],
[
0.0,
0.0,
0.0,
1.0
]
],
"intrinsics": {
"fx": 840.3358127170138,
"fy": 841.1146225527108,
"cx": 418.7178548177083,
"cy": 231.04991057981925
}
},
{
"frame_index": 80,
"c2w": [
[
0.9610949158668518,
-0.1730174869298935,
0.21531710028648376,
-0.08291197568178177
],
[
-0.15432557463645935,
-0.9828526377677917,
-0.10091709345579147,
0.008935235440731049
],
[
0.22908541560173035,
0.06376197934150696,
-0.9713157415390015,
-0.03694473206996918
],
[
0.0,
0.0,
0.0,
1.0
]
],
"intrinsics": {
"fx": 840.3358127170138,
"fy": 841.1146225527108,
"cx": 418.7178548177083,
"cy": 231.04991057981925
}
},
{
"frame_index": 81,
"c2w": [
[
0.9575880765914917,
-0.1860843449831009,
0.2199946790933609,
-0.08651793748140335
],
[
-0.16556285321712494,
-0.980216383934021,
-0.10846583545207977,
0.01086739543825388
],
[
0.23582617938518524,
0.0674426406621933,
-0.9694521427154541,
-0.037800583988428116
],
[
0.0,
0.0,
0.0,
1.0
]
],
"intrinsics": {
"fx": 840.3358127170138,
"fy": 841.1146225527108,
"cx": 418.7178548177083,
"cy": 231.04991057981925
}
},
{
"frame_index": 82,
"c2w": [
[
0.9534057378768921,
-0.2009553760290146,
0.2250209003686905,
-0.08944360166788101
],
[
-0.17826125025749207,
-0.9769778847694397,
-0.11720535904169083,
0.012695708312094212
],
[
0.24339349567890167,
0.07163175940513611,
-0.9672788977622986,
-0.03857174888253212
],
[
0.0,
0.0,
0.0,
1.0
]
],
"intrinsics": {
"fx": 840.3358127170138,
"fy": 841.1146225527108,
"cx": 418.7178548177083,
"cy": 231.04991057981925
}
},
{
"frame_index": 83,
"c2w": [
[
0.9493991136550903,
-0.218009352684021,
0.22608250379562378,
-0.090853750705719
],
[
-0.19339315593242645,
-0.9729822874069214,
-0.12611307203769684,
0.014201177284121513
],
[
0.24746811389923096,
0.07600881904363632,
-0.965910017490387,
-0.03968817740678787
],
[
0.0,
0.0,
0.0,
1.0
]
],
"intrinsics": {
"fx": 840.3358127170138,
"fy": 841.1146225527108,
"cx": 418.7178548177083,
"cy": 231.04991057981925
}
},
{
"frame_index": 84,
"c2w": [
[
0.9460143446922302,
-0.23557637631893158,
0.22262215614318848,
-0.09128768742084503
],
[
-0.20937754213809967,
-0.9684596657752991,
-0.13508112728595734,
0.015534604899585247
],
[
0.2474225014448166,
0.08117660880088806,
-0.9655011296272278,
-0.04085544869303703
],
[
0.0,
0.0,
0.0,
1.0
]
],
"intrinsics": {
"fx": 840.3358127170138,
"fy": 841.1146225527108,
"cx": 418.7178548177083,
"cy": 231.04991057981925
}
},
{
"frame_index": 85,
"c2w": [
[
0.9424518942832947,
-0.25293341279029846,
0.21865302324295044,
-0.09185418486595154
],
[
-0.22553908824920654,
-0.9637281894683838,
-0.14268876612186432,
0.01656537503004074
],
[
0.2468128353357315,
0.08516248315572739,
-0.9653137922286987,
-0.041397422552108765
],
[
0.0,
0.0,
0.0,
1.0
]
],
"intrinsics": {
"fx": 840.3358127170138,
"fy": 841.1146225527108,
"cx": 418.7178548177083,
"cy": 231.04991057981925
}
},
{
"frame_index": 86,
"c2w": [
[
0.9392374157905579,
-0.2682007849216461,
0.21424600481987,
-0.09170722961425781
],
[
-0.24011163413524628,
-0.9593480825424194,
-0.148315891623497,
0.017494812607765198
],
[
0.24531494081020355,
0.08786087483167648,
-0.9654538035392761,
-0.04222305119037628
],
[
0.0,
0.0,
0.0,
1.0
]
],
"intrinsics": {
"fx": 840.3358127170138,
"fy": 841.1146225527108,
"cx": 418.7178548177083,
"cy": 231.04991057981925
}
},
{
"frame_index": 87,
"c2w": [
[
0.9371896982192993,
-0.2789730429649353,
0.20940269529819489,
-0.09177369624376297
],
[
-0.2503161132335663,
-0.9559570550918579,
-0.15325766801834106,
0.018593762069940567
],
[
0.24293474853038788,
0.0912146344780922,
-0.9657445549964905,
-0.043411146849393845
],
[
0.0,
0.0,
0.0,
1.0
]
],
"intrinsics": {
"fx": 840.3358127170138,
"fy": 841.1146225527108,
"cx": 418.7178548177083,
"cy": 231.04991057981925
}
},
{
"frame_index": 88,
"c2w": [
[
0.9344931840896606,
-0.2859187424182892,
0.21206827461719513,
-0.09328605979681015
],
[
-0.25554242730140686,
-0.953543484210968,
-0.1595396101474762,
0.0200459323823452
],
[
0.24783168733119965,
0.09489622712135315,
-0.9641442894935608,
-0.04399992153048515
],
[
0.0,
0.0,
0.0,
1.0
]
],
"intrinsics": {
"fx": 840.3358127170138,
"fy": 841.1146225527108,
"cx": 418.7178548177083,
"cy": 231.04991057981925
}
},
{
"frame_index": 89,
"c2w": [
[
0.932229220867157,
-0.2886044383049011,
0.218302920460701,
-0.09486014395952225
],
[
-0.2565077245235443,
-0.9525412917137146,
-0.1639174520969391,
0.021402893587946892
],
[
0.25524982810020447,
0.09681224822998047,
-0.9620160460472107,
-0.045071475207805634
],
[
0.0,
0.0,
0.0,
1.0
]
],
"intrinsics": {
"fx": 840.3358127170138,
"fy": 841.1146225527108,
"cx": 418.7178548177083,
"cy": 231.04991057981925
}
},
{
"frame_index": 90,
"c2w": [
[
0.9322701692581177,
-0.2866104543209076,
0.22074145078659058,
-0.09688126295804977
],
[
-0.2536660432815552,
-0.9529449939727783,
-0.16598017513751984,
0.02278059348464012
],
[
0.2579261064529419,
0.0987437516450882,
-0.9611055254936218,
-0.046282973140478134
],
[
0.0,
0.0,
0.0,
1.0
]
],
"intrinsics": {
"fx": 840.3358127170138,
"fy": 841.1146225527108,
"cx": 418.7178548177083,
"cy": 231.04991057981925
}
},
{
"frame_index": 91,
"c2w": [
[
0.9320566058158875,
-0.28248196840286255,
0.22687971591949463,
-0.09996938705444336
],
[
-0.24826768040657043,
-0.9540274739265442,
-0.16791290044784546,
0.024134688079357147
],
[
0.2638818621635437,
0.10017742216587067,
-0.9593387842178345,
-0.0471775121986866
],
[
0.0,
0.0,
0.0,
1.0
]
],
"intrinsics": {
"fx": 840.3358127170138,
"fy": 841.1146225527108,
"cx": 418.7178548177083,
"cy": 231.04991057981925
}
},
{
"frame_index": 92,
"c2w": [
[
0.9315267205238342,
-0.2787739038467407,
0.23354464769363403,
-0.10255186259746552
],
[
-0.24321694672107697,
-0.9549886584281921,
-0.16982977092266083,
0.025211093947291374
],
[
0.270376592874527,
0.10139895230531693,
-0.9573999643325806,
-0.04793056100606918
],
[
0.0,
0.0,
0.0,
1.0
]
],
"intrinsics": {
"fx": 840.3358127170138,
"fy": 841.1146225527108,
"cx": 418.7178548177083,
"cy": 231.04991057981925
}
},
{
"frame_index": 93,
"c2w": [
[
0.9332904815673828,
-0.2742503583431244,
0.23185253143310547,
-0.10481824725866318
],
[
-0.23916374146938324,
-0.9562629461288452,
-0.16840976476669312,
0.025912804529070854
],
[
0.26789844036102295,
0.10172451287508011,
-0.9580618739128113,
-0.04843864589929581
],
[
0.0,
0.0,
0.0,
1.0
]
],
"intrinsics": {
"fx": 840.3358127170138,
"fy": 841.1146225527108,
"cx": 418.7178548177083,
"cy": 231.04991057981925
}
},
{
"frame_index": 94,
"c2w": [
[
0.9349560737609863,
-0.26970598101615906,
0.2304687350988388,
-0.10727515071630478
],
[
-0.23456214368343353,
-0.9573396444320679,
-0.1687643826007843,
0.026904797181487083
],
[
0.26615363359451294,
0.1037280485033989,
-0.9583333134651184,
-0.048830561339855194
],
[
0.0,
0.0,
0.0,
1.0
]
],
"intrinsics": {
"fx": 840.3358127170138,
"fy": 841.1146225527108,
"cx": 418.7178548177083,
"cy": 231.04991057981925
}
},
{
"frame_index": 95,
"c2w": [
[
0.9356186389923096,
-0.2656792402267456,
0.23244844377040863,
-0.10969828814268112
],
[
-0.23018909990787506,
-0.9583823084831238,
-0.16886787116527557,
0.02737896703183651
],
[
0.26763916015625,
0.10448883473873138,
-0.9578368067741394,
-0.049045123159885406
],
[
0.0,
0.0,
0.0,
1.0
]
],
"intrinsics": {
"fx": 840.3358127170138,
"fy": 841.1146225527108,
"cx": 418.7178548177083,
"cy": 231.04991057981925
}
},
{
"frame_index": 96,
"c2w": [
[
0.9365286827087402,
-0.2602538466453552,
0.23490840196609497,
-0.11219986528158188
],
[
-0.2245832085609436,
-0.9598543643951416,
-0.16805346310138702,
0.027778496965765953
],
[
0.2692144215106964,
0.10463041067123413,
-0.9573798179626465,
-0.049160249531269073
],
[
0.0,
0.0,
0.0,
1.0
]
],
"intrinsics": {
"fx": 840.3358127170138,
"fy": 841.1146225527108,
"cx": 418.7178548177083,
"cy": 231.04991057981925
}
},
{
"frame_index": 97,
"c2w": [
[
0.938368022441864,
-0.2535898685455322,
0.2348567247390747,
-0.11484775692224503
],
[
-0.2181287705898285,
-0.9615707397460938,
-0.16673798859119415,
0.02822641283273697
],
[
0.2681144177913666,
0.1052325889468193,
-0.9576224684715271,
-0.04977048933506012
],
[
0.0,
0.0,
0.0,
1.0
]
],
"intrinsics": {
"fx": 840.3358127170138,
"fy": 841.1146225527108,
"cx": 418.7178548177083,
"cy": 231.04991057981925
}
},
{
"frame_index": 98,
"c2w": [
[
0.9402008056640625,
-0.24700859189033508,
0.2345404177904129,
-0.11709106713533401
],
[
-0.21165968477725983,
-0.9631626009941101,
-0.16588541865348816,
0.02867824211716652
],
[
0.266875684261322,
0.10632285475730896,
-0.9578480124473572,
-0.05012039467692375
],
[
0.0,
0.0,
0.0,
1.0
]
],
"intrinsics": {
"fx": 840.3358127170138,
"fy": 841.1146225527108,
"cx": 418.7178548177083,
"cy": 231.04991057981925
}
},
{
"frame_index": 99,
"c2w": [
[
0.9416554570198059,
-0.24098098278045654,
0.23497474193572998,
-0.11904867738485336
],
[
-0.20570309460163116,
-0.9646171927452087,
-0.16492395102977753,
0.029149500653147697
],
[
0.2664042115211487,
0.10696651041507721,
-0.9579076170921326,
-0.05040603131055832
],
[
0.0,
0.0,
0.0,
1.0
]
],
"intrinsics": {
"fx": 840.3358127170138,
"fy": 841.1146225527108,
"cx": 418.7178548177083,
"cy": 231.04991057981925
}
},
{
"frame_index": 100,
"c2w": [
[
0.9431755542755127,
-0.23591658473014832,
0.23401552438735962,
-0.12060201168060303
],
[
-0.20082178711891174,
-0.9657652974128723,
-0.16421930491924286,
0.02966189756989479
],
[
0.26474612951278687,
0.10789220780134201,
-0.9582633972167969,
-0.050585564225912094
],
[
0.0,
0.0,
0.0,
1.0
]
],
"intrinsics": {
"fx": 840.3358127170138,
"fy": 841.1146225527108,
"cx": 418.7178548177083,
"cy": 231.04991057981925
}
},
{
"frame_index": 101,
"c2w": [
[
0.9452227354049683,
-0.2305566370487213,
0.2310793399810791,
-0.12182959169149399
],
[
-0.19569729268550873,
-0.9668288230895996,
-0.1641482263803482,
0.030200524255633354
],
[
0.26125961542129517,
0.10993502289056778,
-0.958987832069397,
-0.05107090622186661
],
[
0.0,
0.0,
0.0,
1.0
]
],
"intrinsics": {
"fx": 840.3358127170138,
"fy": 841.1146225527108,
"cx": 418.7178548177083,
"cy": 231.04991057981925
}
},
{
"frame_index": 102,
"c2w": [
[
0.9466837048530579,
-0.22546210885047913,
0.23012351989746094,
-0.12286774814128876
],
[
-0.19078215956687927,
-0.9679242968559265,
-0.16347700357437134,
0.030643440783023834
],
[
0.2596000134944916,
0.11085754632949829,
-0.959332287311554,
-0.051281172782182693
],
[
0.0,
0.0,
0.0,
1.0
]
],
"intrinsics": {
"fx": 840.3358127170138,
"fy": 841.1146225527108,
"cx": 418.7178548177083,
"cy": 231.04991057981925
}
},
{
"frame_index": 103,
"c2w": [
[
0.9479487538337708,
-0.22029954195022583,
0.22991569340229034,
-0.12376885116100311
],
[
-0.1861351579427719,
-0.9692054390907288,
-0.1612282693386078,
0.03097795508801937
],
[
0.2583540380001068,
0.11004074662923813,
-0.9597625732421875,
-0.05054042488336563
],
[
0.0,
0.0,
0.0,
1.0
]
],
"intrinsics": {
"fx": 840.3358127170138,
"fy": 841.1146225527108,
"cx": 418.7178548177083,
"cy": 231.04991057981925
}
},
{
"frame_index": 104,
"c2w": [
[
0.9498821496963501,
-0.21456174552440643,
0.22734807431697845,
-0.12434924393892288
],
[
-0.18158656358718872,
-0.9706940054893494,
-0.15741489827632904,
0.03103635273873806
],
[
0.2544606328010559,
0.10824225097894669,
-0.9610064625740051,
-0.0501193031668663
],
[
0.0,
0.0,
0.0,
1.0
]
],
"intrinsics": {
"fx": 840.3358127170138,
"fy": 841.1146225527108,
"cx": 418.7178548177083,
"cy": 231.04991057981925
}
},
{
"frame_index": 105,
"c2w": [
[
0.9502982497215271,
-0.2106148600578308,
0.22929143905639648,
-0.12455973774194717
],
[
-0.17776475846767426,
-0.971665620803833,
-0.15577417612075806,
0.030942585319280624
],
[
0.25560295581817627,
0.10727199912071228,
-0.9608120918273926,
-0.04985051974654198
],
[
0.0,
0.0,
0.0,
1.0
]
],
"intrinsics": {
"fx": 840.3358127170138,
"fy": 841.1146225527108,
"cx": 418.7178548177083,
"cy": 231.04991057981925
}
},
{
"frame_index": 106,
"c2w": [
[
0.9510347843170166,
-0.2063675820827484,
0.23009833693504333,
-0.12465403974056244
],
[
-0.17376819252967834,
-0.9726510047912598,
-0.15412558615207672,
0.030937401577830315
],
[
0.2556118965148926,
0.10659502446651459,
-0.9608850479125977,
-0.049688346683979034
],
[
0.0,
0.0,
0.0,
1.0
]
],
"intrinsics": {
"fx": 840.3358127170138,
"fy": 841.1146225527108,
"cx": 418.7178548177083,
"cy": 231.04991057981925
}
},
{
"frame_index": 107,
"c2w": [
[
0.9529285430908203,
-0.20101720094680786,
0.22697868943214417,
-0.12434768676757812
],
[
-0.16934846341609955,
-0.9738454222679138,
-0.15147988498210907,
0.030710529536008835
],
[
0.2514922320842743,
0.1059110090136528,
-0.9620470404624939,
-0.04956602677702904
],
[
0.0,
0.0,
0.0,
1.0
]
],
"intrinsics": {
"fx": 840.3358127170138,
"fy": 841.1146225527108,
"cx": 418.7178548177083,
"cy": 231.04991057981925
}
},
{
"frame_index": 108,
"c2w": [
[
0.9536529779434204,
-0.1964186131954193,
0.22795981168746948,
-0.1238013356924057
],
[
-0.16498322784900665,
-0.9748574495315552,
-0.14977814257144928,
0.030330464243888855
],
[
0.2516475319862366,
0.10522682964801788,
-0.9620814919471741,
-0.049362096935510635
],
[
0.0,
0.0,
0.0,
1.0
]
],
"intrinsics": {
"fx": 840.3358127170138,
"fy": 841.1146225527108,
"cx": 418.7178548177083,
"cy": 231.04991057981925
}
},
{
"frame_index": 109,
"c2w": [
[
0.955127477645874,
-0.19118094444274902,
0.22623303532600403,
-0.1228095293045044
],
[
-0.16051346063613892,
-0.9760078191757202,
-0.1471194475889206,
0.02946127951145172
],
[
0.2489316463470459,
0.10420437902212143,
-0.9628989696502686,
-0.04993608593940735
],
[
0.0,
0.0,
0.0,
1.0
]
],
"intrinsics": {
"fx": 840.3358127170138,
"fy": 841.1146225527108,
"cx": 418.7178548177083,
"cy": 231.04991057981925
}
},
{
"frame_index": 110,
"c2w": [
[
0.9573869109153748,
-0.18508069217205048,
0.22171027958393097,
-0.12158597260713577
],
[
-0.15546554327011108,
-0.9772238731384277,
-0.14444349706172943,
0.028794636949896812
],
[
0.24339428544044495,
0.10382000356912613,
-0.9643550515174866,
-0.04997076839208603
],
[
0.0,
0.0,
0.0,
1.0
]
],
"intrinsics": {
"fx": 840.3358127170138,
"fy": 841.1146225527108,
"cx": 418.7178548177083,
"cy": 231.04991057981925
}
},
{
"frame_index": 111,
"c2w": [
[
0.9594662189483643,
-0.17948409914970398,
0.2172786444425583,
-0.11997539550065994
],
[
-0.15062327682971954,
-0.9782052040100098,
-0.1429239809513092,
0.028091629967093468
],
[
0.23819568753242493,
0.10440351814031601,
-0.9655892848968506,
-0.050202347338199615
],
[
0.0,
0.0,
0.0,
1.0
]
],
"intrinsics": {
"fx": 840.3358127170138,
"fy": 841.1146225527108,
"cx": 418.7178548177083,
"cy": 231.04991057981925
}
},
{
"frame_index": 112,
"c2w": [
[
0.9612559080123901,
-0.17441174387931824,
0.2134658545255661,
-0.1180373877286911
],
[
-0.14596721529960632,
-0.9789643287658691,
-0.14255689084529877,
0.027384039014577866
],
[
0.23383904993534088,
0.10587463527917862,
-0.9664936065673828,
-0.0508689247071743
],
[
0.0,
0.0,
0.0,
1.0
]
],
"intrinsics": {
"fx": 840.3358127170138,
"fy": 841.1146225527108,
"cx": 418.7178548177083,
"cy": 231.04991057981925
}
},
{
"frame_index": 113,
"c2w": [
[
0.9651108384132385,
-0.16677315533161163,
0.20186080038547516,
-0.11592766642570496
],
[
-0.14012284576892853,
-0.980202853679657,
-0.13988570868968964,
0.02651911787688732
],
[
0.22119371592998505,
0.10671989619731903,
-0.9693731069564819,
-0.051370687782764435
],
[
0.0,
0.0,
0.0,
1.0
]
],
"intrinsics": {
"fx": 840.3358127170138,
"fy": 841.1146225527108,
"cx": 418.7178548177083,
"cy": 231.04991057981925
}
},
{
"frame_index": 114,
"c2w": [
[
0.9680814146995544,
-0.15858392417430878,
0.1940864771604538,
-0.11393101513385773
],
[
-0.1334555447101593,
-0.9816231727600098,
-0.13640223443508148,
0.02545221708714962
],
[
0.21215097606182098,
0.10614654421806335,
-0.9714550375938416,
-0.05143924802541733
],
[
0.0,
0.0,
0.0,
1.0
]
],
"intrinsics": {
"fx": 840.3358127170138,
"fy": 841.1146225527108,
"cx": 418.7178548177083,
"cy": 231.04991057981925
}
},
{
"frame_index": 115,
"c2w": [
[
0.9700781106948853,
-0.14954011142253876,
0.1912752091884613,
-0.11255597323179245
],
[
-0.1257132589817047,
-0.9833504557609558,
-0.1312175691127777,
0.023989539593458176
],
[
0.20771285891532898,
0.10324545949697495,
-0.9727259278297424,
-0.051117103546857834
],
[
0.0,
0.0,
0.0,
1.0
]
],
"intrinsics": {
"fx": 840.3358127170138,
"fy": 841.1146225527108,
"cx": 418.7178548177083,
"cy": 231.04991057981925
}
},
{
"frame_index": 116,
"c2w": [
[
0.9739199280738831,
-0.1371845304965973,
0.18072181940078735,
-0.11096744984388351
],
[
-0.11567309498786926,
-0.9854329824447632,
-0.12466578185558319,
0.022700725123286247
],
[
0.19519145786762238,
0.10050983726978302,
-0.9756013751029968,
-0.050804801285266876
],
[
0.0,
0.0,
0.0,
1.0
]
],
"intrinsics": {
"fx": 840.3358127170138,
"fy": 841.1146225527108,
"cx": 418.7178548177083,
"cy": 231.04991057981925
}
},
{
"frame_index": 117,
"c2w": [
[
0.9762300848960876,
-0.1260303109884262,
0.17632681131362915,
-0.10933857411146164
],
[
-0.10575489699840546,
-0.9871203899383545,
-0.12003833055496216,
0.021309208124876022
],
[
0.1891842633485794,
0.09853760898113251,
-0.976984977722168,
-0.05055847391486168
],
[
0.0,
0.0,
0.0,
1.0
]
],
"intrinsics": {
"fx": 840.3358127170138,
"fy": 841.1146225527108,
"cx": 418.7178548177083,
"cy": 231.04991057981925
}
},
{
"frame_index": 118,
"c2w": [
[
0.9790555238723755,
-0.1130647212266922,
0.16931220889091492,
-0.10775065422058105
],
[
-0.09434300661087036,
-0.988895058631897,
-0.1148298978805542,
0.01969957910478115
],
[
0.18041522800922394,
0.09645142406225204,
-0.9788500666618347,
-0.050311751663684845
],
[
0.0,
0.0,
0.0,
1.0
]
],
"intrinsics": {
"fx": 840.3358127170138,
"fy": 841.1146225527108,
"cx": 418.7178548177083,
"cy": 231.04991057981925
}
},
{
"frame_index": 119,
"c2w": [
[
0.9821052551269531,
-0.09887561947107315,
0.16028989851474762,
-0.10600558668375015
],
[
-0.0817166417837143,
-0.9905298948287964,
-0.11033079773187637,
0.018185390159487724
],
[
0.16968096792697906,
0.09525810927152634,
-0.9808844327926636,
-0.05035459250211716
],
[
0.0,
0.0,
0.0,
1.0
]
],
"intrinsics": {
"fx": 840.3358127170138,
"fy": 841.1146225527108,
"cx": 418.7178548177083,
"cy": 231.04991057981925
}
},
{
"frame_index": 120,
"c2w": [
[
0.9841192960739136,
-0.08532295376062393,
0.1556573063135147,
-0.1041455864906311
],
[
-0.0693197175860405,
-0.9920004606246948,
-0.1054980531334877,
0.016505232080817223
],
[
0.16341352462768555,
0.09303255379199982,
-0.9821614027023315,
-0.050127021968364716
],
[
0.0,
0.0,
0.0,
1.0
]
],
"intrinsics": {
"fx": 840.3358127170138,
"fy": 841.1146225527108,
"cx": 418.7178548177083,
"cy": 231.04991057981925
}
},
{
"frame_index": 121,
"c2w": [
[
0.9872655272483826,
-0.07052981853485107,
0.14259131252765656,
-0.10185210406780243
],
[
-0.056598782539367676,
-0.9934263229370117,
-0.09950220584869385,
0.014540610834956169
],
[
0.14867183566093445,
0.09016460180282593,
-0.984767496585846,
-0.05017710477113724
],
[
0.0,
0.0,
0.0,
1.0
]
],
"intrinsics": {
"fx": 840.3358127170138,
"fy": 841.1146225527108,
"cx": 418.7178548177083,
"cy": 231.04991057981925
}
},
{
"frame_index": 122,
"c2w": [
[
0.9892157316207886,
-0.057848501950502396,
0.13455769419670105,
-0.09912928193807602
],
[
-0.045152656733989716,
-0.9943987727165222,
-0.09556317329406738,
0.012595119886100292
],
[
0.13933219015598297,
0.08845695108175278,
-0.9862869381904602,
-0.05010942742228508
],
[
0.0,
0.0,
0.0,
1.0
]
],
"intrinsics": {
"fx": 840.3358127170138,
"fy": 841.1146225527108,
"cx": 418.7178548177083,
"cy": 231.04991057981925
}
},
{
"frame_index": 123,
"c2w": [
[
0.9918270111083984,
-0.043422140181064606,
0.11997359246015549,
-0.09609787911176682
],
[
-0.032537370920181274,
-0.9952971339225769,
-0.09124081581830978,
0.010701957158744335
],
[
0.12337125092744827,
0.08659148216247559,
-0.9885754585266113,
-0.05009904131293297
],
[
0.0,
0.0,
0.0,
1.0
]
],
"intrinsics": {
"fx": 840.3358127170138,
"fy": 841.1146225527108,
"cx": 418.7178548177083,
"cy": 231.04991057981925
}
},
{
"frame_index": 124,
"c2w": [
[
0.9945347905158997,
-0.02912503480911255,
0.10026111453771591,
-0.09246289730072021
],
[
-0.020346712321043015,
-0.995957612991333,
-0.08748942613601685,
0.008562354370951653
],
[
0.10240395367145538,
0.08497129380702972,
-0.9911071062088013,
-0.050790853798389435
],
[
0.0,
0.0,
0.0,
1.0
]
],
"intrinsics": {
"fx": 840.3358127170138,
"fy": 841.1146225527108,
"cx": 418.7178548177083,
"cy": 231.04991057981925
}
},
{
"frame_index": 125,
"c2w": [
[
0.9957726001739502,
-0.017196698114275932,
0.09022847563028336,
-0.08855559676885605
],
[
-0.009500422514975071,
-0.9963319301605225,
-0.08504363894462585,
0.006723826285451651
],
[
0.09135998040437698,
0.08382692188024521,
-0.9922834038734436,
-0.050794415175914764
],
[
0.0,
0.0,
0.0,
1.0
]
],
"intrinsics": {
"fx": 840.3358127170138,
"fy": 841.1146225527108,
"cx": 418.7178548177083,
"cy": 231.04991057981925
}
},
{
"frame_index": 126,
"c2w": [
[
0.9971559047698975,
-0.003602431621402502,
0.07528021186590195,
-0.08432593196630478
],
[
0.002530727069824934,
-0.9966931939125061,
-0.0812172070145607,
0.005024242214858532
],
[
0.07532385736703873,
0.08117672801017761,
-0.9938493967056274,
-0.05061618611216545
],
[
0.0,
0.0,
0.0,
1.0
]
],
"intrinsics": {
"fx": 840.3358127170138,
"fy": 841.1146225527108,
"cx": 418.7178548177083,
"cy": 231.04991057981925
}
},
{
"frame_index": 127,
"c2w": [
[
0.9975848197937012,
0.007393116131424904,
0.0690644308924675,
-0.0800609439611435
],
[
0.012804546393454075,
-0.9968520998954773,
-0.07824255526065826,
0.0034966222010552883
],
[
0.06826856732368469,
0.07893792539834976,
-0.994539201259613,
-0.05063798278570175
],
[
0.0,
0.0,
0.0,
1.0
]
],
"intrinsics": {
"fx": 840.3358127170138,
"fy": 841.1146225527108,
"cx": 418.7178548177083,
"cy": 231.04991057981925
}
},
{
"frame_index": 128,
"c2w": [
[
0.9977518320083618,
0.018238814547657967,
0.06448747962713242,
-0.07506915181875229
],
[
0.023040616884827614,
-0.9969533681869507,
-0.07451943308115005,
0.0020525313448160887
],
[
0.06293186545372009,
0.07583773136138916,
-0.9951322674751282,
-0.05020104721188545
],
[
0.0,
0.0,
0.0,
1.0
]
],
"intrinsics": {
"fx": 840.3358127170138,
"fy": 841.1146225527108,
"cx": 418.7178548177083,
"cy": 231.04991057981925
}
},
{
"frame_index": 129,
"c2w": [
[
0.9979025721549988,
0.028945298865437508,
0.057901907712221146,
-0.06950030475854874
],
[
0.03303984925150871,
-0.9969249963760376,
-0.07105565816164017,
0.0007768698269501328
],
[
0.05566713213920593,
0.07281969487667084,
-0.9957903623580933,
-0.049890823662281036
],
[
0.0,
0.0,
0.0,
1.0
]
],
"intrinsics": {
"fx": 840.3358127170138,
"fy": 841.1146225527108,
"cx": 418.7178548177083,
"cy": 231.04991057981925
}
},
{
"frame_index": 130,
"c2w": [
[
0.997748076915741,
0.03801313787698746,
0.05526142194867134,
-0.06357872486114502
],
[
0.04177119955420494,
-0.9967747926712036,
-0.06852149218320847,
-0.0002522908034734428
],
[
0.052478473633527756,
0.07067552208900452,
-0.9961179494857788,
-0.04996836557984352
],
[
0.0,
0.0,
0.0,
1.0
]
],
"intrinsics": {
"fx": 840.3358127170138,
"fy": 841.1146225527108,
"cx": 418.7178548177083,
"cy": 231.04991057981925
}
},
{
"frame_index": 131,
"c2w": [
[
0.9979423880577087,
0.04796016588807106,
0.04255295544862747,
-0.05690586194396019
],
[
0.05073348060250282,
-0.9964835047721863,
-0.06668350100517273,
-0.0011271334951743484
],
[
0.039205167442560196,
0.06870515644550323,
-0.9968663454055786,
-0.05033227056264877
],
[
0.0,
0.0,
0.0,
1.0
]
],
"intrinsics": {
"fx": 840.3358127170138,
"fy": 841.1146225527108,
"cx": 418.7178548177083,
"cy": 231.04991057981925
}
},
{
"frame_index": 132,
"c2w": [
[
0.9980514645576477,
0.05563519150018692,
0.02824912965297699,
-0.04949647933244705
],
[
0.057434067130088806,
-0.9960673451423645,
-0.0674624815583229,
-0.0018149338429793715
],
[
0.024384748190641403,
0.0689534842967987,
-0.9973217844963074,
-0.05120498687028885
],
[
0.0,
0.0,
0.0,
1.0
]
],
"intrinsics": {
"fx": 840.3358127170138,
"fy": 841.1146225527108,
"cx": 418.7178548177083,
"cy": 231.04991057981925
}
},
{
"frame_index": 133,
"c2w": [
[
0.9979327917098999,
0.06230691075325012,
0.01574634201824665,
-0.04175472632050514
],
[
0.0632334053516388,
-0.9957135319709778,
-0.0674988180398941,
-0.002474228385835886
],
[
0.011473204009234905,
0.06835497915744781,
-0.9975950717926025,
-0.0521678552031517
],
[
0.0,
0.0,
0.0,
1.0
]
],
"intrinsics": {
"fx": 840.3358127170138,
"fy": 841.1146225527108,
"cx": 418.7178548177083,
"cy": 231.04991057981925
}
},
{
"frame_index": 134,
"c2w": [
[
0.9975461363792419,
0.06998858600854874,
0.001809446606785059,
-0.03401000425219536
],
[
0.06995577365159988,
-0.9953771233558655,
-0.065807044506073,
-0.00316069507971406
],
[
-0.002804660005494952,
0.065772145986557,
-0.9978307485580444,
-0.052528686821460724
],
[
0.0,
0.0,
0.0,
1.0
]
],
"intrinsics": {
"fx": 840.3358127170138,
"fy": 841.1146225527108,
"cx": 418.7178548177083,
"cy": 231.04991057981925
}
},
{
"frame_index": 135,
"c2w": [
[
0.9969818592071533,
0.07724008709192276,
-0.007820360362529755,
-0.026349307969212532
],
[
0.07662428915500641,
-0.9951987862586975,
-0.06089406460523605,
-0.004018579609692097
],
[
-0.012486276216804981,
0.06011104956269264,
-0.9981135725975037,
-0.0521683506667614
],
[
0.0,
0.0,
0.0,
1.0
]
],
"intrinsics": {
"fx": 840.3358127170138,
"fy": 841.1146225527108,
"cx": 418.7178548177083,
"cy": 231.04991057981925
}
},
{
"frame_index": 136,
"c2w": [
[
0.9964561462402344,
0.08313791453838348,
-0.0127748167142272,
-0.018587617203593254
],
[
0.08232930302619934,
-0.9951204061508179,
-0.05438019707798958,
-0.004988645203411579
],
[
-0.017233537510037422,
0.053135741502046585,
-0.9984385967254639,
-0.051220279186964035
],
[
0.0,
0.0,
0.0,
1.0
]
],
"intrinsics": {
"fx": 840.3358127170138,
"fy": 841.1146225527108,
"cx": 418.7178548177083,
"cy": 231.04991057981925
}
},
{
"frame_index": 137,
"c2w": [
[
0.995929479598999,
0.08913206309080124,
-0.013413503766059875,
-0.011186684481799603
],
[
0.08835572004318237,
-0.9948197603225708,
-0.05026806890964508,
-0.005553307477384806
],
[
-0.01782451570034027,
0.04887829348444939,
-0.9986456632614136,
-0.05095414072275162
],
[
0.0,
0.0,
0.0,
1.0
]
],
"intrinsics": {
"fx": 840.3358127170138,
"fy": 841.1146225527108,
"cx": 418.7178548177083,
"cy": 231.04991057981925
}
},
{
"frame_index": 138,
"c2w": [
[
0.9950859546661377,
0.09717166423797607,
-0.01901612989604473,
-0.004049443174153566
],
[
0.09617508202791214,
-0.9942197203636169,
-0.04772332310676575,
-0.005848280154168606
],
[
-0.023543566465377808,
0.045659929513931274,
-0.9986795783042908,
-0.051096100360155106
],
[
0.0,
0.0,
0.0,
1.0
]
],
"intrinsics": {
"fx": 840.3358127170138,
"fy": 841.1146225527108,
"cx": 418.7178548177083,
"cy": 231.04991057981925
}
},
{
"frame_index": 139,
"c2w": [
[
0.9943798184394836,
0.10340546071529388,
-0.02271871082484722,
0.0034684885758906603
],
[
0.102271169424057,
-0.9936724901199341,
-0.046427782624959946,
-0.006222302559763193
],
[
-0.0273758452385664,
0.04384337738156319,
-0.9986632466316223,
-0.05162297934293747
],
[
0.0,
0.0,
0.0,
1.0
]
],
"intrinsics": {
"fx": 840.3358127170138,
"fy": 841.1146225527108,
"cx": 418.7178548177083,
"cy": 231.04991057981925
}
},
{
"frame_index": 140,
"c2w": [
[
0.9937537312507629,
0.10863088816404343,
-0.02555030770599842,
0.01083616353571415
],
[
0.10740803927183151,
-0.9931888580322266,
-0.045159779489040375,
-0.006447372026741505
],
[
-0.030282028019428253,
0.0421333909034729,
-0.998652994632721,
-0.0521734319627285
],
[
0.0,
0.0,
0.0,
1.0
]
],
"intrinsics": {
"fx": 840.3358127170138,
"fy": 841.1146225527108,
"cx": 418.7178548177083,
"cy": 231.04991057981925
}
},
{
"frame_index": 141,
"c2w": [
[
0.9929699301719666,
0.11364158987998962,
-0.03310989961028099,
0.018249278888106346
],
[
0.11212745308876038,
-0.9926980137825012,
-0.04447567090392113,
-0.006460750941187143
],
[
-0.03792241960763931,
0.04045047610998154,
-0.9984616637229919,
-0.05284806340932846
],
[
0.0,
0.0,
0.0,
1.0
]
],
"intrinsics": {
"fx": 840.3358127170138,
"fy": 841.1146225527108,
"cx": 418.7178548177083,
"cy": 231.04991057981925
}
},
{
"frame_index": 142,
"c2w": [
[
0.992887020111084,
0.11511319875717163,
-0.030403433367609978,
0.026036998257040977
],
[
0.11375272274017334,
-0.9925684332847595,
-0.04322303086519241,
-0.006212706211954355
],
[
-0.03515302762389183,
0.039457108825445175,
-0.9986027479171753,
-0.053373269736766815
],
[
0.0,
0.0,
0.0,
1.0
]
],
"intrinsics": {
"fx": 840.3358127170138,
"fy": 841.1146225527108,
"cx": 418.7178548177083,
"cy": 231.04991057981925
}
},
{
"frame_index": 143,
"c2w": [
[
0.9926154017448425,
0.11674614995718002,
-0.03293898329138756,
0.03361837938427925
],
[
0.11535942554473877,
-0.9924665093421936,
-0.041260961443185806,
-0.005775528494268656
],
[
-0.03750789538025856,
0.037156444042921066,
-0.9986053109169006,
-0.053966306149959564
],
[
0.0,
0.0,
0.0,
1.0
]
],
"intrinsics": {
"fx": 840.3358127170138,
"fy": 841.1146225527108,
"cx": 418.7178548177083,
"cy": 231.04991057981925
}
},
{
"frame_index": 144,
"c2w": [
[
0.9923102855682373,
0.116915263235569,
-0.04063386470079422,
0.04156681150197983
],
[
0.11518865823745728,
-0.9924332499504089,
-0.04251876100897789,
-0.0050814514979720116
],
[
-0.04529748857021332,
0.03751124441623688,
-0.9982690215110779,
-0.055174265056848526
],
[
0.0,
0.0,
0.0,
1.0
]
],
"intrinsics": {
"fx": 840.3358127170138,
"fy": 841.1146225527108,
"cx": 418.7178548177083,
"cy": 231.04991057981925
}
},
{
"frame_index": 145,
"c2w": [
[
0.9920605421066284,
0.11590609699487686,
-0.04880255460739136,
0.05001120641827583
],
[
0.11387091875076294,
-0.9925814270973206,
-0.04260838031768799,
-0.004494448192417622
],
[
-0.053379081189632416,
0.036712899804115295,
-0.9978992342948914,
-0.05655745789408684
],
[
0.0,
0.0,
0.0,
1.0
]
],
"intrinsics": {
"fx": 840.3358127170138,
"fy": 841.1146225527108,
"cx": 418.7178548177083,
"cy": 231.04991057981925
}
},
{
"frame_index": 146,
"c2w": [
[
0.9916317462921143,
0.1151670590043068,
-0.05833566561341286,
0.05804843828082085
],
[
0.11280924081802368,
-0.9927189946174622,
-0.04222637414932251,
-0.003670769277960062
],
[
-0.06277401000261307,
0.035292211920022964,
-0.9974035620689392,
-0.057738013565540314
],
[
0.0,
0.0,
0.0,
1.0
]
],
"intrinsics": {
"fx": 840.3358127170138,
"fy": 841.1146225527108,
"cx": 418.7178548177083,
"cy": 231.04991057981925
}
},
{
"frame_index": 147,
"c2w": [
[
0.9913197159767151,
0.11435473710298538,
-0.06487102806568146,
0.06570126116275787
],
[
0.11183030158281326,
-0.9928684234619141,
-0.0413069911301136,
-0.002758162561804056
],
[
-0.06913204491138458,
0.033693887293338776,
-0.9970383644104004,
-0.05894147604703903
],
[
0.0,
0.0,
0.0,
1.0
]
],
"intrinsics": {
"fx": 840.3358127170138,
"fy": 841.1146225527108,
"cx": 418.7178548177083,
"cy": 231.04991057981925
}
},
{
"frame_index": 148,
"c2w": [
[
0.9907145500183105,
0.11678134649991989,
-0.06961903721094131,
0.07291412353515625
],
[
0.11422514915466309,
-0.9926635026931763,
-0.03964526951313019,
-0.0014342538779601455
],
[
-0.07373810559511185,
0.031324900686740875,
-0.996785581111908,
-0.05960782617330551
],
[
0.0,
0.0,
0.0,
1.0
]
],
"intrinsics": {
"fx": 840.3358127170138,
"fy": 841.1146225527108,
"cx": 418.7178548177083,
"cy": 231.04991057981925
}
},
{
"frame_index": 149,
"c2w": [
[
0.990260124206543,
0.1209973469376564,
-0.06888070702552795,
0.07874948531389236
],
[
0.11861187219619751,
-0.9922230839729309,
-0.03774286434054375,
6.82406171108596e-05
],
[
-0.0729118138551712,
0.029205184429883957,
-0.9969106912612915,
-0.06065951660275459
],
[
0.0,
0.0,
0.0,
1.0
]
],
"intrinsics": {
"fx": 840.3358127170138,
"fy": 841.1146225527108,
"cx": 418.7178548177083,
"cy": 231.04991057981925
}
},
{
"frame_index": 150,
"c2w": [
[
0.9898256659507751,
0.12711484730243683,
-0.06392937898635864,
0.08361159265041351
],
[
0.12505342066287994,
-0.9915221929550171,
-0.0352906808257103,
0.0017524190479889512
],
[
-0.06787336617708206,
0.026937033981084824,
-0.9973302483558655,
-0.0616312250494957
],
[
0.0,
0.0,
0.0,
1.0
]
],
"intrinsics": {
"fx": 840.3358127170138,
"fy": 841.1146225527108,
"cx": 418.7178548177083,
"cy": 231.04991057981925
}
},
{
"frame_index": 151,
"c2w": [
[
0.9890055656433105,
0.13489606976509094,
-0.06058923155069351,
0.08843904733657837
],
[
0.1330394595861435,
-0.9905371069908142,
-0.033715613186359406,
0.003451089607551694
],
[
-0.06456398963928223,
0.025284171104431152,
-0.9975932240486145,
-0.06234503909945488
],
[
0.0,
0.0,
0.0,
1.0
]
],
"intrinsics": {
"fx": 840.3358127170138,
"fy": 841.1146225527108,
"cx": 418.7178548177083,
"cy": 231.04991057981925
}
},
{
"frame_index": 152,
"c2w": [
[
0.988394558429718,
0.1416488140821457,
-0.054880160838365555,
0.09231912344694138
],
[
0.1400688737630844,
-0.9896355271339417,
-0.031657926738262177,
0.005241163074970245
],
[
-0.058795664459466934,
0.023603519424796104,
-0.9979909658432007,
-0.06311938166618347
],
[
0.0,
0.0,
0.0,
1.0
]
],
"intrinsics": {
"fx": 840.3358127170138,
"fy": 841.1146225527108,
"cx": 418.7178548177083,
"cy": 231.04991057981925
}
},
{
"frame_index": 153,
"c2w": [
[
0.9877548813819885,
0.14689916372299194,
-0.05254502594470978,
0.0960313081741333
],
[
0.14547187089920044,
-0.9889059662818909,
-0.03004891239106655,
0.006958161946386099
],
[
-0.05637625232338905,
0.022037135437130928,
-0.9981663823127747,
-0.06386110931634903
],
[
0.0,
0.0,
0.0,
1.0
]
],
"intrinsics": {
"fx": 840.3358127170138,
"fy": 841.1146225527108,
"cx": 418.7178548177083,
"cy": 231.04991057981925
}
},
{
"frame_index": 154,
"c2w": [
[
0.9870111346244812,
0.15031364560127258,
-0.05669940635561943,
0.10049624741077423
],
[
0.14873604476451874,
-0.988387405872345,
-0.031111277639865875,
0.00855736993253231
],
[
-0.06071742996573448,
0.02227393165230751,
-0.9979064464569092,
-0.0647701844573021
],
[
0.0,
0.0,
0.0,
1.0
]
],
"intrinsics": {
"fx": 840.3358127170138,
"fy": 841.1146225527108,
"cx": 418.7178548177083,
"cy": 231.04991057981925
}
},
{
"frame_index": 155,
"c2w": [
[
0.9868711829185486,
0.15185652673244476,
-0.05499890074133873,
0.10392817854881287
],
[
0.15028072893619537,
-0.9881331324577332,
-0.03175964206457138,
0.010139314457774162
],
[
-0.05916914343833923,
0.023077398538589478,
-0.9979811906814575,
-0.06574281305074692
],
[
0.0,
0.0,
0.0,
1.0
]
],
"intrinsics": {
"fx": 840.3358127170138,
"fy": 841.1146225527108,
"cx": 418.7178548177083,
"cy": 231.04991057981925
}
},
{
"frame_index": 156,
"c2w": [
[
0.9869629144668579,
0.15229786932468414,
-0.052053697407245636,
0.10690517723560333
],
[
0.15088772773742676,
-0.98809415102005,
-0.030046718195080757,
0.011332785710692406
],
[
-0.05601000413298607,
0.021800732240080833,
-0.9981921911239624,
-0.06644248217344284
],
[
0.0,
0.0,
0.0,
1.0
]
],
"intrinsics": {
"fx": 840.3358127170138,
"fy": 841.1146225527108,
"cx": 418.7178548177083,
"cy": 231.04991057981925
}
},
{
"frame_index": 157,
"c2w": [
[
0.9872047901153564,
0.15203389525413513,
-0.04808693751692772,
0.10978330671787262
],
[
0.15081551671028137,
-0.9881640076637268,
-0.0280454121530056,
0.01199810765683651
],
[
-0.051781635731458664,
0.020434308797121048,
-0.9984493255615234,
-0.06689312309026718
],
[
0.0,
0.0,
0.0,
1.0
]
],
"intrinsics": {
"fx": 840.3358127170138,
"fy": 841.1146225527108,
"cx": 418.7178548177083,
"cy": 231.04991057981925
}
},
{
"frame_index": 158,
"c2w": [
[
0.9874273538589478,
0.15116219222545624,
-0.046230219304561615,
0.1118791401386261
],
[
0.15000423789024353,
-0.9883003830909729,
-0.027587484568357468,
0.012534579262137413
],
[
-0.04985952749848366,
0.020305907353758812,
-0.9985498189926147,
-0.06756903976202011
],
[
0.0,
0.0,
0.0,
1.0
]
],
"intrinsics": {
"fx": 840.3358127170138,
"fy": 841.1146225527108,
"cx": 418.7178548177083,
"cy": 231.04991057981925
}
},
{
"frame_index": 159,
"c2w": [
[
0.9876447916030884,
0.14957281947135925,
-0.0467512384057045,
0.11353959143161774
],
[
0.14840245246887207,
-0.9885419607162476,
-0.027594823390245438,
0.012798990122973919
],
[
-0.050342999398708344,
0.020315885543823242,
-0.9985253214836121,
-0.0682542473077774
],
[
0.0,
0.0,
0.0,
1.0
]
],
"intrinsics": {
"fx": 840.3358127170138,
"fy": 841.1146225527108,
"cx": 418.7178548177083,
"cy": 231.04991057981925
}
},
{
"frame_index": 160,
"c2w": [
[
0.9880772829055786,
0.14713528752326965,
-0.04532703384757042,
0.11501148343086243
],
[
0.1459655910730362,
-0.9888895153999329,
-0.028134483844041824,
0.01272098533809185
],
[
-0.04896300658583641,
0.02118285745382309,
-0.9985759258270264,
-0.06914227455854416
],
[
0.0,
0.0,
0.0,
1.0
]
],
"intrinsics": {
"fx": 840.3358127170138,
"fy": 841.1146225527108,
"cx": 418.7178548177083,
"cy": 231.04991057981925
}
},
{
"frame_index": 161,
"c2w": [
[
0.9883096218109131,
0.14571145176887512,
-0.04485798627138138,
0.11560045182704926
],
[
0.14451679587364197,
-0.9890822768211365,
-0.02883029170334339,
0.01261533610522747
],
[
-0.04856914281845093,
0.022010521963238716,
-0.9985772967338562,
-0.06965098530054092
],
[
0.0,
0.0,
0.0,
1.0
]
],
"intrinsics": {
"fx": 840.3358127170138,
"fy": 841.1146225527108,
"cx": 418.7178548177083,
"cy": 231.04991057981925
}
},
{
"frame_index": 162,
"c2w": [
[
0.988646388053894,
0.14417318999767303,
-0.04233654960989952,
0.11559028178453445
],
[
0.14304715394973755,
-0.9893044233322144,
-0.02853628434240818,
0.012303516268730164
],
[
-0.04599790275096893,
0.02215617150068283,
-0.9986957907676697,
-0.06982071697711945
],
[
0.0,
0.0,
0.0,
1.0
]
],
"intrinsics": {
"fx": 840.3358127170138,
"fy": 841.1146225527108,
"cx": 418.7178548177083,
"cy": 231.04991057981925
}
},
{
"frame_index": 163,
"c2w": [
[
0.9889339208602905,
0.14244389533996582,
-0.04146626964211464,
0.11533810198307037
],
[
0.1413382738828659,
-0.9895513653755188,
-0.028489094227552414,
0.011723576113581657
],
[
-0.04509110003709793,
0.022313060238957405,
-0.998733639717102,
-0.06994073837995529
],
[
0.0,
0.0,
0.0,
1.0
]
],
"intrinsics": {
"fx": 840.3358127170138,
"fy": 841.1146225527108,
"cx": 418.7178548177083,
"cy": 231.04991057981925
}
},
{
"frame_index": 164,
"c2w": [
[
0.9888482093811035,
0.14239852130413055,
-0.04361025243997574,
0.11418072879314423
],
[
0.141230508685112,
-0.989557683467865,
-0.028800668194890022,
0.011214847676455975
],
[
-0.04725603386759758,
0.022320391610264778,
-0.9986333847045898,
-0.06975816190242767
],
[
0.0,
0.0,
0.0,
1.0
]
],
"intrinsics": {
"fx": 840.3358127170138,
"fy": 841.1146225527108,
"cx": 418.7178548177083,
"cy": 231.04991057981925
}
},
{
"frame_index": 165,
"c2w": [
[
0.988889753818512,
0.14246059954166412,
-0.042450644075870514,
0.11232724785804749
],
[
0.14130157232284546,
-0.989536702632904,
-0.029170699417591095,
0.010694007389247417
],
[
-0.04616214707493782,
0.022848261520266533,
-0.998672604560852,
-0.06949780881404877
],
[
0.0,
0.0,
0.0,
1.0
]
],
"intrinsics": {
"fx": 840.3358127170138,
"fy": 841.1146225527108,
"cx": 418.7178548177083,
"cy": 231.04991057981925
}
},
{
"frame_index": 166,
"c2w": [
[
0.9889305830001831,
0.14297915995121002,
-0.0396648533642292,
0.11020348966121674
],
[
0.14190316200256348,
-0.9894630312919617,
-0.02874619886279106,
0.010190817527472973
],
[
-0.043357014656066895,
0.022799426689743996,
-0.9987994432449341,
-0.06934335827827454
],
[
0.0,
0.0,
0.0,
1.0
]
],
"intrinsics": {
"fx": 840.3358127170138,
"fy": 841.1146225527108,
"cx": 418.7178548177083,
"cy": 231.04991057981925
}
},
{
"frame_index": 167,
"c2w": [
[
0.9887437224388123,
0.14442788064479828,
-0.03907015174627304,
0.10737791657447815
],
[
0.14331942796707153,
-0.9892266392707825,
-0.029836663976311684,
0.009623682126402855
],
[
-0.04295847937464714,
0.023901302367448807,
-0.9987909197807312,
-0.06923720985651016
],
[
0.0,
0.0,
0.0,
1.0
]
],
"intrinsics": {
"fx": 840.3358127170138,
"fy": 841.1146225527108,
"cx": 418.7178548177083,
"cy": 231.04991057981925
}
},
{
"frame_index": 168,
"c2w": [
[
0.9886676669120789,
0.14525206387043,
-0.03792155534029007,
0.1042119562625885
],
[
0.1441299170255661,
-0.9890784025192261,
-0.0308290533721447,
0.008972185663878918
],
[
-0.04198537766933441,
0.025014057755470276,
-0.998805046081543,
-0.06909126043319702
],
[
0.0,
0.0,
0.0,
1.0
]
],
"intrinsics": {
"fx": 840.3358127170138,
"fy": 841.1146225527108,
"cx": 418.7178548177083,
"cy": 231.04991057981925
}
},
{
"frame_index": 169,
"c2w": [
[
0.9887390732765198,
0.14531750977039337,
-0.035747408866882324,
0.10125339031219482
],
[
0.14421437680721283,
-0.9890377521514893,
-0.03172590583562851,
0.008399305865168571
],
[
-0.03996586799621582,
0.026213353499770164,
-0.9988571405410767,
-0.06840942054986954
],
[
0.0,
0.0,
0.0,
1.0
]
],
"intrinsics": {
"fx": 840.3358127170138,
"fy": 841.1146225527108,
"cx": 418.7178548177083,
"cy": 231.04991057981925
}
},
{
"frame_index": 170,
"c2w": [
[
0.9888037443161011,
0.14524221420288086,
-0.034233126789331436,
0.0976104736328125
],
[
0.14415599405765533,
-0.9890269637107849,
-0.03232210502028465,
0.007462588604539633
],
[
-0.038552019745111465,
0.027025308459997177,
-0.9988910555839539,
-0.0681428536772728
],
[
0.0,
0.0,
0.0,
1.0
]
],
"intrinsics": {
"fx": 840.3358127170138,
"fy": 841.1146225527108,
"cx": 418.7178548177083,
"cy": 231.04991057981925
}
},
{
"frame_index": 171,
"c2w": [
[
0.9889370203018188,
0.14469704031944275,
-0.03265564888715744,
0.09365053474903107
],
[
0.14360858500003815,
-0.9890662431716919,
-0.033534884452819824,
0.00636694859713316
],
[
-0.037150997668504715,
0.02847425639629364,
-0.9989039301872253,
-0.06794147193431854
],
[
0.0,
0.0,
0.0,
1.0
]
],
"intrinsics": {
"fx": 840.3358127170138,
"fy": 841.1146225527108,
"cx": 418.7178548177083,
"cy": 231.04991057981925
}
},
{
"frame_index": 172,
"c2w": [
[
0.98928302526474,
0.1434001326560974,
-0.027485409751534462,
0.0896097719669342
],
[
0.14243584871292114,
-0.9892088770866394,
-0.0343201644718647,
0.005290607921779156
],
[
-0.03211032599210739,
0.030037451535463333,
-0.9990328550338745,
-0.06746962666511536
],
[
0.0,
0.0,
0.0,
1.0
]
],
"intrinsics": {
"fx": 840.3358127170138,
"fy": 841.1146225527108,
"cx": 418.7178548177083,
"cy": 231.04991057981925
}
},
{
"frame_index": 173,
"c2w": [
[
0.9896940588951111,
0.1413133144378662,
-0.023156706243753433,
0.08528298139572144
],
[
0.14049433171749115,
-0.9895030856132507,
-0.03383689001202583,
0.0039156354032456875
],
[
-0.02769523486495018,
0.03023478016257286,
-0.999159038066864,
-0.06661693006753922
],
[
0.0,
0.0,
0.0,
1.0
]
],
"intrinsics": {
"fx": 840.3358127170138,
"fy": 841.1146225527108,
"cx": 418.7178548177083,
"cy": 231.04991057981925
}
},
{
"frame_index": 174,
"c2w": [
[
0.9901545643806458,
0.1384103000164032,
-0.02089260146021843,
0.08089794963598251
],
[
0.1376676857471466,
-0.9899094104766846,
-0.0335703119635582,
0.0023842088412493467
],
[
-0.0253282580524683,
0.03036356158554554,
-0.9992179870605469,
-0.06572270393371582
],
[
0.0,
0.0,
0.0,
1.0
]
],
"intrinsics": {
"fx": 840.3358127170138,
"fy": 841.1146225527108,
"cx": 418.7178548177083,
"cy": 231.04991057981925
}
},
{
"frame_index": 175,
"c2w": [
[
0.9906695485115051,
0.1346239596605301,
-0.021218782290816307,
0.07667040824890137
],
[
0.13383255898952484,
-0.9903814196586609,
-0.035121407359838486,
0.001179087208583951
],
[
-0.025742869824171066,
0.03195394575595856,
-0.9991577863693237,
-0.0651325136423111
],
[
0.0,
0.0,
0.0,
1.0
]
],
"intrinsics": {
"fx": 840.3358127170138,
"fy": 841.1146225527108,
"cx": 418.7178548177083,
"cy": 231.04991057981925
}
},
{
"frame_index": 176,
"c2w": [
[
0.991268515586853,
0.12995418906211853,
-0.02232993207871914,
0.07203207910060883
],
[
0.12903060019016266,
-0.9908829927444458,
-0.038756199181079865,
-0.0002485387085471302
],
[
-0.027162879705429077,
0.03553655743598938,
-0.9989991784095764,
-0.06483534723520279
],
[
0.0,
0.0,
0.0,
1.0
]
],
"intrinsics": {
"fx": 840.3358127170138,
"fy": 841.1146225527108,
"cx": 418.7178548177083,
"cy": 231.04991057981925
}
},
{
"frame_index": 177,
"c2w": [
[
0.9918062686920166,
0.1256900131702423,
-0.022855589166283607,
0.06698502600193024
],
[
0.12463387101888657,
-0.9912745952606201,
-0.04290708154439926,
-0.0016279093688353896
],
[
-0.028049156069755554,
0.03970693051815033,
-0.9988176226615906,
-0.06469697505235672
],
[
0.0,
0.0,
0.0,
1.0
]
],
"intrinsics": {
"fx": 840.3358127170138,
"fy": 841.1146225527108,
"cx": 418.7178548177083,
"cy": 231.04991057981925
}
},
{
"frame_index": 178,
"c2w": [
[
0.9924619197845459,
0.12052697688341141,
-0.022195477038621902,
0.06179485842585564
],
[
0.11938665807247162,
-0.9917332530021667,
-0.047032080590724945,
-0.002872834447771311
],
[
-0.02768062613904476,
0.04402770474553108,
-0.9986467361450195,
-0.06465912610292435
],
[
0.0,
0.0,
0.0,
1.0
]
],
"intrinsics": {
"fx": 840.3358127170138,
"fy": 841.1146225527108,
"cx": 418.7178548177083,
"cy": 231.04991057981925
}
},
{
"frame_index": 179,
"c2w": [
[
0.993212103843689,
0.11451438814401627,
-0.020401425659656525,
0.05638508126139641
],
[
0.11334467679262161,
-0.9922250509262085,
-0.051405131816864014,
-0.00426899129524827
],
[
-0.026129432022571564,
0.048743803054094315,
-0.9984694719314575,
-0.06474130600690842
],
[
0.0,
0.0,
0.0,
1.0
]
],
"intrinsics": {
"fx": 840.3358127170138,
"fy": 841.1146225527108,
"cx": 418.7178548177083,
"cy": 231.04991057981925
}
},
{
"frame_index": 180,
"c2w": [
[
0.9937961101531982,
0.10904453694820404,
-0.02187652513384819,
0.05078432708978653
],
[
0.10766343772411346,
-0.9925726056098938,
-0.056641288101673126,
-0.005621015094220638
],
[
-0.027890462428331375,
0.05393459275364876,
-0.998154878616333,
-0.06493838131427765
],
[
0.0,
0.0,
0.0,
1.0
]
],
"intrinsics": {
"fx": 840.3358127170138,
"fy": 841.1146225527108,
"cx": 418.7178548177083,
"cy": 231.04991057981925
}
},
{
"frame_index": 181,
"c2w": [
[
0.9945221543312073,
0.10257919132709503,
-0.020080028101801872,
0.04445136711001396
],
[
0.10118641704320908,
-0.9929870367050171,
-0.06113932654261589,
-0.006813766900449991
],
[
-0.026210829615592957,
0.05877259001135826,
-0.9979272484779358,
-0.06499137729406357
],
[
0.0,
0.0,
0.0,
1.0
]
],
"intrinsics": {
"fx": 840.3358127170138,
"fy": 841.1146225527108,
"cx": 418.7178548177083,
"cy": 231.04991057981925
}
},
{
"frame_index": 182,
"c2w": [
[
0.9952216744422913,
0.09590505063533783,
-0.018332822248339653,
0.03831275925040245
],
[
0.09453067183494568,
-0.9933943748474121,
-0.06505072116851807,
-0.0080054746940732
],
[
-0.02445041388273239,
0.06300687044858932,
-0.997713565826416,
-0.06484805047512054
],
[
0.0,
0.0,
0.0,
1.0
]
],
"intrinsics": {
"fx": 840.3358127170138,
"fy": 841.1146225527108,
"cx": 418.7178548177083,
"cy": 231.04991057981925
}
},
{
"frame_index": 183,
"c2w": [
[
0.9957278370857239,
0.08999380469322205,
-0.02066776342689991,
0.032112862914800644
],
[
0.08840910345315933,
-0.9937719702720642,
-0.06783098727464676,
-0.009145800955593586
],
[
-0.026643412187695503,
0.06571397930383682,
-0.9974827170372009,
-0.06452399492263794
],
[
0.0,
0.0,
0.0,
1.0
]
],
"intrinsics": {
"fx": 840.3358127170138,
"fy": 841.1146225527108,
"cx": 418.7178548177083,
"cy": 231.04991057981925
}
},
{
"frame_index": 184,
"c2w": [
[
0.996427595615387,
0.08287477493286133,
-0.016243968158960342,
0.025693172588944435
],
[
0.08155418932437897,
-0.9942241907119751,
-0.06976518034934998,
-0.010074821300804615
],
[
-0.02193192020058632,
0.06819118559360504,
-0.9974311590194702,
-0.06448709964752197
],
[
0.0,
0.0,
0.0,
1.0
]
],
"intrinsics": {
"fx": 840.3358127170138,
"fy": 841.1146225527108,
"cx": 418.7178548177083,
"cy": 231.04991057981925
}
},
{
"frame_index": 185,
"c2w": [
[
0.997214138507843,
0.07412423938512802,
-0.008340699598193169,
0.01931246928870678
],
[
0.07333334535360336,
-0.9946935772895813,
-0.07215889543294907,
-0.011159906163811684
],
[
-0.013645163737237453,
0.0713462233543396,
-0.9973582625389099,
-0.06389536708593369
],
[
0.0,
0.0,
0.0,
1.0
]
],
"intrinsics": {
"fx": 840.3358127170138,
"fy": 841.1146225527108,
"cx": 418.7178548177083,
"cy": 231.04991057981925
}
},
{
"frame_index": 186,
"c2w": [
[
0.9976756572723389,
0.06732198596000671,
-0.010539180599153042,
0.012963095679879189
],
[
0.06633736193180084,
-0.994925856590271,
-0.07564303278923035,
-0.012131375260651112
],
[
-0.015578143298625946,
0.0747680738568306,
-0.9970792531967163,
-0.06346303224563599
],
[
0.0,
0.0,
0.0,
1.0
]
],
"intrinsics": {
"fx": 840.3358127170138,
"fy": 841.1146225527108,
"cx": 418.7178548177083,
"cy": 231.04991057981925
}
},
{
"frame_index": 187,
"c2w": [
[
0.9981689453125,
0.060026537626981735,
-0.007453411351889372,
0.006612333003431559
],
[
0.05924476683139801,
-0.9950600862503052,
-0.07965832948684692,
-0.012643431313335896
],
[
-0.012198206037282944,
0.07907089591026306,
-0.9967943429946899,
-0.06266078352928162
],
[
0.0,
0.0,
0.0,
1.0
]
],
"intrinsics": {
"fx": 840.3358127170138,
"fy": 841.1146225527108,
"cx": 418.7178548177083,
"cy": 231.04991057981925
}
},
{
"frame_index": 188,
"c2w": [
[
0.9986711144447327,
0.05151677876710892,
0.0014290458057075739,
-2.108029366354458e-05
],
[
0.051460228860378265,
-0.9952989220619202,
-0.08204834163188934,
-0.013430321589112282
],
[
-0.002804538467898965,
0.0820128470659256,
-0.9966273307800293,
-0.061789222061634064
],
[
0.0,
0.0,
0.0,
1.0
]
],
"intrinsics": {
"fx": 840.3358127170138,
"fy": 841.1146225527108,
"cx": 418.7178548177083,
"cy": 231.04991057981925
}
},
{
"frame_index": 189,
"c2w": [
[
0.9990073442459106,
0.044440142810344696,
0.0030722254887223244,
-0.006602203007787466
],
[
0.04454123601317406,
-0.9954869747161865,
-0.08379625529050827,
-0.014241424389183521
],
[
-0.0006655572215095162,
0.08384991437196732,
-0.9964781999588013,
-0.060920920222997665
],
[
0.0,
0.0,
0.0,
1.0
]
],
"intrinsics": {
"fx": 840.3358127170138,
"fy": 841.1146225527108,
"cx": 418.7178548177083,
"cy": 231.04991057981925
}
},
{
"frame_index": 190,
"c2w": [
[
0.9993035197257996,
0.037102051079273224,
0.003995723091065884,
-0.012998422607779503
],
[
0.0373077429831028,
-0.9956543445587158,
-0.08532624691724777,
-0.015045267529785633
],
[
0.000812580285128206,
0.08541589230298996,
-0.996345043182373,
-0.059749674052000046
],
[
0.0,
0.0,
0.0,
1.0
]
],
"intrinsics": {
"fx": 840.3358127170138,
"fy": 841.1146225527108,
"cx": 418.7178548177083,
"cy": 231.04991057981925
}
},
{
"frame_index": 191,
"c2w": [
[
0.999556303024292,
0.027122262865304947,
0.012312059290707111,
-0.0195103008300066
],
[
0.02808678336441517,
-0.9958605170249939,
-0.08644626289606094,
-0.01578897424042225
],
[
0.009916475974023342,
0.086753711104393,
-0.9961804151535034,
-0.05848673731088638
],
[
0.0,
0.0,
0.0,
1.0
]
],
"intrinsics": {
"fx": 840.3358127170138,
"fy": 841.1146225527108,
"cx": 418.7178548177083,
"cy": 231.04991057981925
}
},
{
"frame_index": 192,
"c2w": [
[
0.9996663331985474,
0.017272327095270157,
0.01920684613287449,
-0.026042470708489418
],
[
0.01888602413237095,
-0.9960046410560608,
-0.08728156238794327,
-0.01647976227104664
],
[
0.017622550949454308,
0.08761517703533173,
-0.9959985017776489,
-0.05726087838411331
],
[
0.0,
0.0,
0.0,
1.0
]
],
"intrinsics": {
"fx": 840.3358127170138,
"fy": 841.1146225527108,
"cx": 418.7178548177083,
"cy": 231.04991057981925
}
},
{
"frame_index": 193,
"c2w": [
[
0.9997105598449707,
0.00765943480655551,
0.022806940600275993,
-0.03224005550146103
],
[
0.009642626158893108,
-0.9960599541664124,
-0.08815643936395645,
-0.016834024339914322
],
[
0.02204185165464878,
0.08835083991289139,
-0.9958454966545105,
-0.05608498677611351
],
[
0.0,
0.0,
0.0,
1.0
]
],
"intrinsics": {
"fx": 840.3358127170138,
"fy": 841.1146225527108,
"cx": 418.7178548177083,
"cy": 231.04991057981925
}
},
{
"frame_index": 194,
"c2w": [
[
0.999366283416748,
-0.0059468564577400684,
0.03509504348039627,
-0.03839242458343506
],
[
-0.0027594564016908407,
-0.9959216117858887,
-0.09018068760633469,
-0.0172892976552248
],
[
0.035488203167915344,
0.09002669900655746,
-0.9953068494796753,
-0.054886288940906525
],
[
0.0,
0.0,
0.0,
1.0
]
],
"intrinsics": {
"fx": 840.3358127170138,
"fy": 841.1146225527108,
"cx": 418.7178548177083,
"cy": 231.04991057981925
}
},
{
"frame_index": 195,
"c2w": [
[
0.9989045858383179,
-0.018584776669740677,
0.04294454678893089,
-0.044605519622564316
],
[
-0.014566369354724884,
-0.9956469535827637,
-0.09205973148345947,
-0.017608875408768654
],
[
0.04446851462125778,
0.09133334457874298,
-0.9948270320892334,
-0.05367138236761093
],
[
0.0,
0.0,
0.0,
1.0
]
],
"intrinsics": {
"fx": 840.3358127170138,
"fy": 841.1146225527108,
"cx": 418.7178548177083,
"cy": 231.04991057981925
}
},
{
"frame_index": 196,
"c2w": [
[
0.998158872127533,
-0.03087620995938778,
0.05220669507980347,
-0.05113137140870094
],
[
-0.0258347038179636,
-0.9951775074005127,
-0.09462712705135345,
-0.017668507993221283
],
[
0.054876659065485,
0.09310416132211685,
-0.9941429495811462,
-0.05250038579106331
],
[
0.0,
0.0,
0.0,
1.0
]
],
"intrinsics": {
"fx": 840.3358127170138,
"fy": 841.1146225527108,
"cx": 418.7178548177083,
"cy": 231.04991057981925
}
},
{
"frame_index": 197,
"c2w": [
[
0.9967766404151917,
-0.0439697802066803,
0.06710401922464371,
-0.057568177580833435
],
[
-0.037258829921483994,
-0.9944714307785034,
-0.0981752797961235,
-0.017702464014291763
],
[
0.0710497722029686,
0.09535861015319824,
-0.9929041862487793,
-0.05098123475909233
],
[
0.0,
0.0,
0.0,
1.0
]
],
"intrinsics": {
"fx": 840.3358127170138,
"fy": 841.1146225527108,
"cx": 418.7178548177083,
"cy": 231.04991057981925
}
},
{
"frame_index": 198,
"c2w": [
[
0.995868980884552,
-0.054546553641557693,
0.07259245961904526,
-0.06384336948394775
],
[
-0.047093670815229416,
-0.9938026070594788,
-0.10069062560796738,
-0.017693476751446724
],
[
0.07763490080833435,
0.096856027841568,
-0.9922659397125244,
-0.049276940524578094
],
[
0.0,
0.0,
0.0,
1.0
]
],
"intrinsics": {
"fx": 840.3358127170138,
"fy": 841.1146225527108,
"cx": 418.7178548177083,
"cy": 231.04991057981925
}
},
{
"frame_index": 199,
"c2w": [
[
0.9945988059043884,
-0.0665104016661644,
0.07968448102474213,
-0.06977970153093338
],
[
-0.058072008192539215,
-0.9928909540176392,
-0.10390008240938187,
-0.017823051661252975
],
[
0.08602843433618546,
0.09871146082878113,
-0.9913905262947083,
-0.04734120890498161
],
[
0.0,
0.0,
0.0,
1.0
]
],
"intrinsics": {
"fx": 840.3358127170138,
"fy": 841.1146225527108,
"cx": 418.7178548177083,
"cy": 231.04991057981925
}
},
{
"frame_index": 200,
"c2w": [
[
0.9925106167793274,
-0.08058208227157593,
0.09181059896945953,
-0.0753265991806984
],
[
-0.07050516456365585,
-0.9916298985481262,
-0.10816261917352676,
-0.01793854869902134
],
[
0.0997581034898758,
0.10087943077087402,
-0.9898846745491028,
-0.04539533704519272
],
[
0.0,
0.0,
0.0,
1.0
]
],
"intrinsics": {
"fx": 840.3358127170138,
"fy": 841.1146225527108,
"cx": 418.7178548177083,
"cy": 231.04991057981925
}
},
{
"frame_index": 201,
"c2w": [
[
0.990459144115448,
-0.0938185304403305,
0.10093919187784195,
-0.08052118867635727
],
[
-0.08218729496002197,
-0.9900988340377808,
-0.11379585415124893,
-0.017843861132860184
],
[
0.11061593890190125,
0.10441423207521439,
-0.9883632063865662,
-0.04389208182692528
],
[
0.0,
0.0,
0.0,
1.0
]
],
"intrinsics": {
"fx": 840.3358127170138,
"fy": 841.1146225527108,
"cx": 418.7178548177083,
"cy": 231.04991057981925
}
},
{
"frame_index": 202,
"c2w": [
[
0.9883000254631042,
-0.10696109384298325,
0.10873105376958847,
-0.08543678373098373
],
[
-0.09372591972351074,
-0.9883029460906982,
-0.120302714407444,
-0.017665566876530647
],
[
0.120326928794384,
0.10870425403118134,
-0.9867648482322693,
-0.0427052304148674
],
[
0.0,
0.0,
0.0,
1.0
]
],
"intrinsics": {
"fx": 840.3358127170138,
"fy": 841.1146225527108,
"cx": 418.7178548177083,
"cy": 231.04991057981925
}
},
{
"frame_index": 203,
"c2w": [
[
0.9864315390586853,
-0.11971769481897354,
0.11234075576066971,
-0.08979832381010056
],
[
-0.1052117869257927,
-0.9862798452377319,
-0.12721048295497894,
-0.017266739159822464
],
[
0.12602876126766205,
0.11366485804319382,
-0.9854933023452759,
-0.04186643287539482
],
[
0.0,
0.0,
0.0,
1.0
]
],
"intrinsics": {
"fx": 840.3358127170138,
"fy": 841.1146225527108,
"cx": 418.7178548177083,
"cy": 231.04991057981925
}
},
{
"frame_index": 204,
"c2w": [
[
0.9845289587974548,
-0.13205312192440033,
0.11517264693975449,
-0.09385088086128235
],
[
-0.11616300046443939,
-0.983984112739563,
-0.13520866632461548,
-0.016686920076608658
],
[
0.13118278980255127,
0.11973803490400314,
-0.9841005206108093,
-0.04125257954001427
],
[
0.0,
0.0,
0.0,
1.0
]
],
"intrinsics": {
"fx": 840.3358127170138,
"fy": 841.1146225527108,
"cx": 418.7178548177083,
"cy": 231.04991057981925
}
},
{
"frame_index": 205,
"c2w": [
[
0.9820201396942139,
-0.14495910704135895,
0.12092699110507965,
-0.09788666665554047
],
[
-0.12737110257148743,
-0.981592059135437,
-0.142315074801445,
-0.016286710277199745
],
[
0.13933084905147552,
0.12435366958379745,
-0.9824067950248718,
-0.04006112366914749
],
[
0.0,
0.0,
0.0,
1.0
]
],
"intrinsics": {
"fx": 840.3358127170138,
"fy": 841.1146225527108,
"cx": 418.7178548177083,
"cy": 231.04991057981925
}
},
{
"frame_index": 206,
"c2w": [
[
0.9799211025238037,
-0.15649470686912537,
0.12354791164398193,
-0.10133099555969238
],
[
-0.1377710998058319,
-0.9793726801872253,
-0.14781174063682556,
-0.015692826360464096
],
[
0.14413119852542877,
0.12782251834869385,
-0.9812683463096619,
-0.038995128124952316
],
[
0.0,
0.0,
0.0,
1.0
]
],
"intrinsics": {
"fx": 840.3358127170138,
"fy": 841.1146225527108,
"cx": 418.7178548177083,
"cy": 231.04991057981925
}
},
{
"frame_index": 207,
"c2w": [
[
0.976714551448822,
-0.16845330595970154,
0.13286127150058746,
-0.10451515018939972
],
[
-0.14772015810012817,
-0.9771316051483154,
-0.15294615924358368,
-0.015001513063907623
],
[
0.15558724105358124,
0.12975844740867615,
-0.97926265001297,
-0.037467509508132935
],
[
0.0,
0.0,
0.0,
1.0
]
],
"intrinsics": {
"fx": 840.3358127170138,
"fy": 841.1146225527108,
"cx": 418.7178548177083,
"cy": 231.04991057981925
}
},
{
"frame_index": 208,
"c2w": [
[
0.9735198616981506,
-0.17982091009616852,
0.14115068316459656,
-0.10755058377981186
],
[
-0.15731273591518402,
-0.9749742150306702,
-0.15709221363067627,
-0.014198997989296913
],
[
0.16586674749851227,
0.1307275891304016,
-0.9774448871612549,
-0.03536380082368851
],
[
0.0,
0.0,
0.0,
1.0
]
],
"intrinsics": {
"fx": 840.3358127170138,
"fy": 841.1146225527108,
"cx": 418.7178548177083,
"cy": 231.04991057981925
}
},
{
"frame_index": 209,
"c2w": [
[
0.9703327417373657,
-0.1909538060426712,
0.1482936441898346,
-0.10997409373521805
],
[
-0.16704368591308594,
-0.9729167819023132,
-0.15977896749973297,
-0.013511036522686481
],
[
0.17478777468204498,
0.13026724755764008,
-0.9759506583213806,
-0.03330805525183678
],
[
0.0,
0.0,
0.0,
1.0
]
],
"intrinsics": {
"fx": 840.3358127170138,
"fy": 841.1146225527108,
"cx": 418.7178548177083,
"cy": 231.04991057981925
}
},
{
"frame_index": 210,
"c2w": [
[
0.9667878746986389,
-0.20196904242038727,
0.15661975741386414,
-0.11222473531961441
],
[
-0.17661914229393005,
-0.9708936214447021,
-0.1617753505706787,
-0.012638977728784084
],
[
0.1847347468137741,
0.12874040007591248,
-0.9743197560310364,
-0.031138883903622627
],
[
0.0,
0.0,
0.0,
1.0
]
],
"intrinsics": {
"fx": 840.3358127170138,
"fy": 841.1146225527108,
"cx": 418.7178548177083,
"cy": 231.04991057981925
}
},
{
"frame_index": 211,
"c2w": [
[
0.9630028009414673,
-0.21247750520706177,
0.1657675951719284,
-0.11487655341625214
],
[
-0.18535706400871277,
-0.9687364101409912,
-0.1649014800786972,
-0.011533734388649464
],
[
0.19562296569347382,
0.12807440757751465,
-0.9722800850868225,
-0.029690932482481003
],
[
0.0,
0.0,
0.0,
1.0
]
],
"intrinsics": {
"fx": 840.3358127170138,
"fy": 841.1146225527108,
"cx": 418.7178548177083,
"cy": 231.04991057981925
}
},
{
"frame_index": 212,
"c2w": [
[
0.9611436128616333,
-0.22033368051052094,
0.16630098223686218,
-0.11705765873193741
],
[
-0.19282600283622742,
-0.9669690728187561,
-0.166700080037117,
-0.010123172774910927
],
[
0.19753755629062653,
0.12815555930137634,
-0.9718822240829468,
-0.02830941043794155
],
[
0.0,
0.0,
0.0,
1.0
]
],
"intrinsics": {
"fx": 840.3358127170138,
"fy": 841.1146225527108,
"cx": 418.7178548177083,
"cy": 231.04991057981925
}
},
{
"frame_index": 213,
"c2w": [
[
0.9590688347816467,
-0.2286049723625183,
0.1671128273010254,
-0.1190158873796463
],
[
-0.20023445785045624,
-0.9647759199142456,
-0.17062696814537048,
-0.008651402778923512
],
[
0.200232595205307,
0.13018126785755157,
-0.9710611701011658,
-0.02716783806681633
],
[
0.0,
0.0,
0.0,
1.0
]
],
"intrinsics": {
"fx": 840.3358127170138,
"fy": 841.1146225527108,
"cx": 418.7178548177083,
"cy": 231.04991057981925
}
},
{
"frame_index": 214,
"c2w": [
[
0.9561232328414917,
-0.2388189285993576,
0.16968752443790436,
-0.12097369134426117
],
[
-0.20952782034873962,
-0.9622552990913391,
-0.1736743450164795,
-0.0074341618455946445
],
[
0.20475943386554718,
0.13049982488155365,
-0.9700738787651062,
-0.025643518194556236
],
[
0.0,
0.0,
0.0,
1.0
]
],
"intrinsics": {
"fx": 840.3358127170138,
"fy": 841.1146225527108,
"cx": 418.7178548177083,
"cy": 231.04991057981925
}
},
{
"frame_index": 215,
"c2w": [
[
0.9536126852035522,
-0.24874334037303925,
0.16955693066120148,
-0.12221833318471909
],
[
-0.21893809735774994,
-0.9596462249755859,
-0.1764802783727646,
-0.006400947459042072
],
[
0.2066129595041275,
0.13117137551307678,
-0.9695901870727539,
-0.024296391755342484
],
[
0.0,
0.0,
0.0,
1.0
]
],
"intrinsics": {
"fx": 840.3358127170138,
"fy": 841.1146225527108,
"cx": 418.7178548177083,
"cy": 231.04991057981925
}
},
{
"frame_index": 216,
"c2w": [
[
0.9504236578941345,
-0.2592138648033142,
0.1717645674943924,
-0.12299101799726486
],
[
-0.22839166224002838,
-0.9567631483078003,
-0.18011538684368134,
-0.005516170524060726
],
[
0.2110264152288437,
0.1319563388824463,
-0.9685325622558594,
-0.022863859310746193
],
[
0.0,
0.0,
0.0,
1.0
]
],
"intrinsics": {
"fx": 840.3358127170138,
"fy": 841.1146225527108,
"cx": 418.7178548177083,
"cy": 231.04991057981925
}
},
{
"frame_index": 217,
"c2w": [
[
0.9469771981239319,
-0.2704555094242096,
0.17345890402793884,
-0.12345411628484726
],
[
-0.23901201784610748,
-0.953761875629425,
-0.18224039673805237,
-0.005036050919443369
],
[
0.21472640335559845,
0.1311187446117401,
-0.9678328633308411,
-0.021644001826643944
],
[
0.0,
0.0,
0.0,
1.0
]
],
"intrinsics": {
"fx": 840.3358127170138,
"fy": 841.1146225527108,
"cx": 418.7178548177083,
"cy": 231.04991057981925
}
},
{
"frame_index": 218,
"c2w": [
[
0.9441646337509155,
-0.28127172589302063,
0.1715790033340454,
-0.12317122519016266
],
[
-0.24942775070667267,
-0.950452983379364,
-0.1855395883321762,
-0.004596404731273651
],
[
0.21526482701301575,
0.13238336145877838,
-0.9675410389900208,
-0.02076609432697296
],
[
0.0,
0.0,
0.0,
1.0
]
],
"intrinsics": {
"fx": 840.3358127170138,
"fy": 841.1146225527108,
"cx": 418.7178548177083,
"cy": 231.04991057981925
}
},
{
"frame_index": 219,
"c2w": [
[
0.9407687783241272,
-0.29267460107803345,
0.17115989327430725,
-0.1224362850189209
],
[
-0.26004353165626526,
-0.9467895030975342,
-0.18964965641498566,
-0.004166694823652506
],
[
0.21755802631378174,
0.13390745222568512,
-0.9668181538581848,
-0.0202180203050375
],
[
0.0,
0.0,
0.0,
1.0
]
],
"intrinsics": {
"fx": 840.3358127170138,
"fy": 841.1146225527108,
"cx": 418.7178548177083,
"cy": 231.04991057981925
}
},
{
"frame_index": 220,
"c2w": [
[
0.9376161694526672,
-0.3033452033996582,
0.16987530887126923,
-0.1217794120311737
],
[
-0.2697315812110901,
-0.9429672360420227,
-0.1950836032629013,
-0.003245072904974222
],
[
0.21936452388763428,
0.13709281384944916,
-0.9659631252288818,
-0.019861361011862755
],
[
0.0,
0.0,
0.0,
1.0
]
],
"intrinsics": {
"fx": 840.3358127170138,
"fy": 841.1146225527108,
"cx": 418.7178548177083,
"cy": 231.04991057981925
}
},
{
"frame_index": 221,
"c2w": [
[
0.9348088502883911,
-0.3134162127971649,
0.16704092919826508,
-0.12064091116189957
],
[
-0.2793009579181671,
-0.9392877817153931,
-0.19932253658771515,
-0.002647826913744211
],
[
0.21937040984630585,
0.13967378437519073,
-0.9655919671058655,
-0.019650673493742943
],
[
0.0,
0.0,
0.0,
1.0
]
],
"intrinsics": {
"fx": 840.3358127170138,
"fy": 841.1146225527108,
"cx": 418.7178548177083,
"cy": 231.04991057981925
}
},
{
"frame_index": 222,
"c2w": [
[
0.9320060610771179,
-0.3225884437561035,
0.16523133218288422,
-0.11942200362682343
],
[
-0.28795480728149414,
-0.9358931183815002,
-0.20294366776943207,
-0.0021244012750685215
],
[
0.22010613977909088,
0.14156557619571686,
-0.96514892578125,
-0.019392674788832664
],
[
0.0,
0.0,
0.0,
1.0
]
],
"intrinsics": {
"fx": 840.3358127170138,
"fy": 841.1146225527108,
"cx": 418.7178548177083,
"cy": 231.04991057981925
}
},
{
"frame_index": 223,
"c2w": [
[
0.9291661381721497,
-0.330965518951416,
0.1646576076745987,
-0.11856760084629059
],
[
-0.2957114279270172,
-0.9327638149261475,
-0.20617084205150604,
-0.0016176722710952163
],
[
0.2218220978975296,
0.14287583529949188,
-0.9645628333091736,
-0.018919138237833977
],
[
0.0,
0.0,
0.0,
1.0
]
],
"intrinsics": {
"fx": 840.3358127170138,
"fy": 841.1146225527108,
"cx": 418.7178548177083,
"cy": 231.04991057981925
}
},
{
"frame_index": 224,
"c2w": [
[
0.9254341125488281,
-0.338896781206131,
0.16947175562381744,
-0.11761905252933502
],
[
-0.30259180068969727,
-0.9301974773406982,
-0.20777595043182373,
-0.0014128908514976501
],
[
0.22805680334568024,
0.14100219309329987,
-0.9633838534355164,
-0.018145188689231873
],
[
0.0,
0.0,
0.0,
1.0
]
],
"intrinsics": {
"fx": 840.3358127170138,
"fy": 841.1146225527108,
"cx": 418.7178548177083,
"cy": 231.04991057981925
}
},
{
"frame_index": 225,
"c2w": [
[
0.9231991171836853,
-0.34408411383628845,
0.17120027542114258,
-0.11697083711624146
],
[
-0.30737292766571045,
-0.9284582734107971,
-0.2085355818271637,
-0.0010698779951781034
],
[
0.2307060956954956,
0.13989752531051636,
-0.962913990020752,
-0.017642203718423843
],
[
0.0,
0.0,
0.0,
1.0
]
],
"intrinsics": {
"fx": 840.3358127170138,
"fy": 841.1146225527108,
"cx": 418.7178548177083,
"cy": 231.04991057981925
}
},
{
"frame_index": 226,
"c2w": [
[
0.9219284653663635,
-0.347522497177124,
0.1711024045944214,
-0.11691693961620331
],
[
-0.3108072578907013,
-0.9272785782814026,
-0.20869430899620056,
-0.0006266802665777504
],
[
0.23118555545806885,
0.13922134041786194,
-0.962897002696991,
-0.017704997211694717
],
[
0.0,
0.0,
0.0,
1.0
]
],
"intrinsics": {
"fx": 840.3358127170138,
"fy": 841.1146225527108,
"cx": 418.7178548177083,
"cy": 231.04991057981925
}
},
{
"frame_index": 227,
"c2w": [
[
0.9217913150787354,
-0.3483232855796814,
0.1702105551958084,
-0.11708153039216995
],
[
-0.31149324774742126,
-0.9268136024475098,
-0.20973432064056396,
-5.249675723462133e-06
],
[
0.2308088093996048,
0.1403118371963501,
-0.9628291130065918,
-0.018161099404096603
],
[
0.0,
0.0,
0.0,
1.0
]
],
"intrinsics": {
"fx": 840.3358127170138,
"fy": 841.1146225527108,
"cx": 418.7178548177083,
"cy": 231.04991057981925
}
},
{
"frame_index": 228,
"c2w": [
[
0.9223804473876953,
-0.34718573093414307,
0.16934093832969666,
-0.11767134815454483
],
[
-0.3102882206439972,
-0.927038311958313,
-0.21052606403827667,
0.0007989011937752366
],
[
0.23007717728614807,
0.14164063334465027,
-0.9628096222877502,
-0.01888611726462841
],
[
0.0,
0.0,
0.0,
1.0
]
],
"intrinsics": {
"fx": 840.3358127170138,
"fy": 841.1146225527108,
"cx": 418.7178548177083,
"cy": 231.04991057981925
}
},
{
"frame_index": 229,
"c2w": [
[
0.9228290915489197,
-0.3457753658294678,
0.16978193819522858,
-0.11869944632053375
],
[
-0.30873048305511475,
-0.9274870753288269,
-0.21083936095237732,
0.001548399799503386
],
[
0.23037360608577728,
0.1421518325805664,
-0.9626634120941162,
-0.019735639914870262
],
[
0.0,
0.0,
0.0,
1.0
]
],
"intrinsics": {
"fx": 840.3358127170138,
"fy": 841.1146225527108,
"cx": 418.7178548177083,
"cy": 231.04991057981925
}
},
{
"frame_index": 230,
"c2w": [
[
0.9238566160202026,
-0.3432033956050873,
0.16941185295581818,
-0.11993179470300674
],
[
-0.3061833381652832,
-0.9283143281936646,
-0.21091291308403015,
0.002534399973228574
],
[
0.2296534776687622,
0.14298219978809357,
-0.9627125263214111,
-0.020264048129320145
],
[
0.0,
0.0,
0.0,
1.0
]
],
"intrinsics": {
"fx": 840.3358127170138,
"fy": 841.1146225527108,
"cx": 418.7178548177083,
"cy": 231.04991057981925
}
},
{
"frame_index": 231,
"c2w": [
[
0.9249873757362366,
-0.3401433229446411,
0.16941334307193756,
-0.12129992246627808
],
[
-0.30329856276512146,
-0.9294418096542358,
-0.21011397242546082,
0.003370702965185046
],
[
0.22892871499061584,
0.14296995103359222,
-0.9628869295120239,
-0.02038704790174961
],
[
0.0,
0.0,
0.0,
1.0
]
],
"intrinsics": {
"fx": 840.3358127170138,
"fy": 841.1146225527108,
"cx": 418.7178548177083,
"cy": 231.04991057981925
}
},
{
"frame_index": 232,
"c2w": [
[
0.9261493682861328,
-0.3371393084526062,
0.16906940937042236,
-0.1222282350063324
],
[
-0.300557404756546,
-0.9305465221405029,
-0.20916123688220978,
0.004105222877115011
],
[
0.22784341871738434,
0.14289948344230652,
-0.9631547927856445,
-0.020287109538912773
],
[
0.0,
0.0,
0.0,
1.0
]
],
"intrinsics": {
"fx": 840.3358127170138,
"fy": 841.1146225527108,
"cx": 418.7178548177083,
"cy": 231.04991057981925
}
},
{
"frame_index": 233,
"c2w": [
[
0.927269697189331,
-0.3348405659198761,
0.16748930513858795,
-0.12295103073120117
],
[
-0.2990233302116394,
-0.9315544962882996,
-0.20686057209968567,
0.004440446849912405
],
[
0.2252907156944275,
0.1417323350906372,
-0.9639273881912231,
-0.02000458352267742
],
[
0.0,
0.0,
0.0,
1.0
]
],
"intrinsics": {
"fx": 840.3358127170138,
"fy": 841.1146225527108,
"cx": 418.7178548177083,
"cy": 231.04991057981925
}
},
{
"frame_index": 234,
"c2w": [
[
0.9283390045166016,
-0.33337992429733276,
0.16445215046405792,
-0.12318804115056992
],
[
-0.29838258028030396,
-0.9321208596229553,
-0.20522797107696533,
0.004563165362924337
],
[
0.22170816361904144,
0.14145147800445557,
-0.9647989273071289,
-0.019992774352431297
],
[
0.0,
0.0,
0.0,
1.0
]
],
"intrinsics": {
"fx": 840.3358127170138,
"fy": 841.1146225527108,
"cx": 418.7178548177083,
"cy": 231.04991057981925
}
},
{
"frame_index": 235,
"c2w": [
[
0.9290273785591125,
-0.3326347768306732,
0.16205619275569916,
-0.12289788573980331
],
[
-0.29813989996910095,
-0.9323452115058899,
-0.20456048846244812,
0.0044666556641459465
],
[
0.21913625299930573,
0.14172688126564026,
-0.9653459191322327,
-0.020190846174955368
],
[
0.0,
0.0,
0.0,
1.0
]
],
"intrinsics": {
"fx": 840.3358127170138,
"fy": 841.1146225527108,
"cx": 418.7178548177083,
"cy": 231.04991057981925
}
},
{
"frame_index": 236,
"c2w": [
[
0.9304152131080627,
-0.3313280940055847,
0.15668193995952606,
-0.12229413539171219
],
[
-0.2975744605064392,
-0.9324748516082764,
-0.20479269325733185,
0.004466884769499302
],
[
0.21395553648471832,
0.14391769468784332,
-0.966183602809906,
-0.021128462627530098
],
[
0.0,
0.0,
0.0,
1.0
]
],
"intrinsics": {
"fx": 840.3358127170138,
"fy": 841.1146225527108,
"cx": 418.7178548177083,
"cy": 231.04991057981925
}
},
{
"frame_index": 237,
"c2w": [
[
0.9325488209724426,
-0.3294515907764435,
0.1476966291666031,
-0.1211831122636795
],
[
-0.2968091070652008,
-0.9324693083763123,
-0.20592564344406128,
0.004311924334615469
],
[
0.20556510984897614,
0.14819800853729248,
-0.9673573970794678,
-0.022693296894431114
],
[
0.0,
0.0,
0.0,
1.0
]
],
"intrinsics": {
"fx": 840.3358127170138,
"fy": 841.1146225527108,
"cx": 418.7178548177083,
"cy": 231.04991057981925
}
},
{
"frame_index": 238,
"c2w": [
[
0.9344902634620667,
-0.3272480368614197,
0.14013083279132843,
-0.1197708249092102
],
[
-0.29527589678764343,
-0.9324142336845398,
-0.2083645761013031,
0.0038796118460595608
],
[
0.19884689152240753,
0.15333741903305054,
-0.96796053647995,
-0.024441687390208244
],
[
0.0,
0.0,
0.0,
1.0
]
],
"intrinsics": {
"fx": 840.3358127170138,
"fy": 841.1146225527108,
"cx": 418.7178548177083,
"cy": 231.04991057981925
}
},
{
"frame_index": 239,
"c2w": [
[
0.9365568161010742,
-0.3243063688278198,
0.13299134373664856,
-0.11803462356328964
],
[
-0.29316186904907227,
-0.9327206015586853,
-0.2099723368883133,
0.003200655337423086
],
[
0.192139133810997,
0.157663032412529,
-0.9686201214790344,
-0.026362208649516106
],
[
0.0,
0.0,
0.0,
1.0
]
],
"intrinsics": {
"fx": 840.3358127170138,
"fy": 841.1146225527108,
"cx": 418.7178548177083,
"cy": 231.04991057981925
}
},
{
"frame_index": 240,
"c2w": [
[
0.9388893842697144,
-0.3198604881763458,
0.12718483805656433,
-0.11609569191932678
],
[
-0.28958821296691895,
-0.9337224364280701,
-0.21047818660736084,
0.0023221999872475863
],
[
0.1860789954662323,
0.1607844978570938,
-0.9692898988723755,
-0.02825704589486122
],
[
0.0,
0.0,
0.0,
1.0
]
],
"intrinsics": {
"fx": 840.3358127170138,
"fy": 841.1146225527108,
"cx": 418.7178548177083,
"cy": 231.04991057981925
}
},
{
"frame_index": 241,
"c2w": [
[
0.9445660710334778,
-0.30543428659439087,
0.12043605744838715,
-0.1121697649359703
],
[
-0.2765142619609833,
-0.9378390908241272,
-0.2097562998533249,
0.0006822451832704246
],
[
0.17701640725135803,
0.1648263931274414,
-0.9703078866004944,
-0.03196405991911888
],
[
0.0,
0.0,
0.0,
1.0
]
],
"intrinsics": {
"fx": 840.3358127170138,
"fy": 841.1146225527108,
"cx": 418.7178548177083,
"cy": 231.04991057981925
}
},
{
"frame_index": 242,
"c2w": [
[
0.9445660710334778,
-0.30543428659439087,
0.12043605744838715,
-0.1121697649359703
],
[
-0.2765142619609833,
-0.9378390908241272,
-0.2097562998533249,
0.0006822451832704246
],
[
0.17701640725135803,
0.1648263931274414,
-0.9703078866004944,
-0.03196405991911888
],
[
0.0,
0.0,
0.0,
1.0
]
],
"intrinsics": {
"fx": 840.3358127170138,
"fy": 841.1146225527108,
"cx": 418.7178548177083,
"cy": 231.04991057981925
}
},
{
"frame_index": 243,
"c2w": [
[
0.947259783744812,
-0.29668810963630676,
0.12114071100950241,
-0.10978475213050842
],
[
-0.2677362859249115,
-0.9404129981994629,
-0.2096201777458191,
-0.0006672337767668068
],
[
0.17611411213874817,
0.16613100469112396,
-0.970249593257904,
-0.033605825155973434
],
[
0.0,
0.0,
0.0,
1.0
]
],
"intrinsics": {
"fx": 840.3358127170138,
"fy": 841.1146225527108,
"cx": 418.7178548177083,
"cy": 231.04991057981925
}
},
{
"frame_index": 244,
"c2w": [
[
0.9516492486000061,
-0.28456351161003113,
0.11570347100496292,
-0.10717032104730606
],
[
-0.25706589221954346,
-0.9439263939857483,
-0.20717152953147888,
-0.0019722753204405308
],
[
0.1681690216064453,
0.167411208152771,
-0.971438467502594,
-0.03551148623228073
],
[
0.0,
0.0,
0.0,
1.0
]
],
"intrinsics": {
"fx": 840.3358127170138,
"fy": 841.1146225527108,
"cx": 418.7178548177083,
"cy": 231.04991057981925
}
},
{
"frame_index": 245,
"c2w": [
[
0.95401531457901,
-0.27378588914871216,
0.12204926460981369,
-0.10452000051736832
],
[
-0.2449849396944046,
-0.9467632174491882,
-0.20885837078094482,
-0.003426248673349619
],
[
0.17273423075675964,
0.16935384273529053,
-0.970300018787384,
-0.03726603835821152
],
[
0.0,
0.0,
0.0,
1.0
]
],
"intrinsics": {
"fx": 840.3358127170138,
"fy": 841.1146225527108,
"cx": 418.7178548177083,
"cy": 231.04991057981925
}
},
{
"frame_index": 246,
"c2w": [
[
0.9571231603622437,
-0.2610695958137512,
0.1255303919315338,
-0.1015966385602951
],
[
-0.2319924682378769,
-0.9503173828125,
-0.2075483500957489,
-0.004960308317095041
],
[
0.17347827553749084,
0.16952723264694214,
-0.9701370000839233,
-0.03891307860612869
],
[
0.0,
0.0,
0.0,
1.0
]
],
"intrinsics": {
"fx": 840.3358127170138,
"fy": 841.1146225527108,
"cx": 418.7178548177083,
"cy": 231.04991057981925
}
},
{
"frame_index": 247,
"c2w": [
[
0.9604813456535339,
-0.2476743459701538,
0.12701565027236938,
-0.09789491444826126
],
[
-0.2186731994152069,
-0.9537623524665833,
-0.206202432513237,
-0.006570619530975819
],
[
0.17221379280090332,
0.1702786684036255,
-0.9702306985855103,
-0.0405367873609066
],
[
0.0,
0.0,
0.0,
1.0
]
],
"intrinsics": {
"fx": 840.3358127170138,
"fy": 841.1146225527108,
"cx": 418.7178548177083,
"cy": 231.04991057981925
}
},
{
"frame_index": 248,
"c2w": [
[
0.9626948237419128,
-0.23525772988796234,
0.1336877942085266,
-0.09410465508699417
],
[
-0.20507724583148956,
-0.9566657543182373,
-0.20672199130058289,
-0.008107127621769905
],
[
0.1765274703502655,
0.17159387469291687,
-0.9692232012748718,
-0.04227422922849655
],
[
0.0,
0.0,
0.0,
1.0
]
],
"intrinsics": {
"fx": 840.3358127170138,
"fy": 841.1146225527108,
"cx": 418.7178548177083,
"cy": 231.04991057981925
}
},
{
"frame_index": 249,
"c2w": [
[
0.9664430618286133,
-0.22074072062969208,
0.13138245046138763,
-0.08977273851633072
],
[
-0.19162774085998535,
-0.9601292014122009,
-0.2035454511642456,
-0.009705640375614166
],
[
0.17107489705085754,
0.1715385615825653,
-0.9702102541923523,
-0.043927669525146484
],
[
0.0,
0.0,
0.0,
1.0
]
],
"intrinsics": {
"fx": 840.3358127170138,
"fy": 841.1146225527108,
"cx": 418.7178548177083,
"cy": 231.04991057981925
}
},
{
"frame_index": 250,
"c2w": [
[
0.9683606624603271,
-0.20838893949985504,
0.13730120658874512,
-0.08501172065734863
],
[
-0.1785864382982254,
-0.9629651308059692,
-0.20200257003307343,
-0.010910587385296822
],
[
0.17431136965751648,
0.1710912138223648,
-0.969713032245636,
-0.04478085786104202
],
[
0.0,
0.0,
0.0,
1.0
]
],
"intrinsics": {
"fx": 840.3358127170138,
"fy": 841.1146225527108,
"cx": 418.7178548177083,
"cy": 231.04991057981925
}
},
{
"frame_index": 251,
"c2w": [
[
0.9701003432273865,
-0.19625402987003326,
0.14279253780841827,
-0.07982399314641953
],
[
-0.16622088849544525,
-0.9659398198127747,
-0.19832022488117218,
-0.012367290444672108
],
[
0.17685014009475708,
0.1686554104089737,
-0.9696800112724304,
-0.04563949629664421
],
[
0.0,
0.0,
0.0,
1.0
]
],
"intrinsics": {
"fx": 840.3358127170138,
"fy": 841.1146225527108,
"cx": 418.7178548177083,
"cy": 231.04991057981925
}
},
{
"frame_index": 252,
"c2w": [
[
0.9729139804840088,
-0.1832873523235321,
0.1408693641424179,
-0.07403971999883652
],
[
-0.15461263060569763,
-0.9689608812332153,
-0.19289840757846832,
-0.013829955831170082
],
[
0.1718527376651764,
0.16589337587356567,
-0.9710540771484375,
-0.0466298833489418
],
[
0.0,
0.0,
0.0,
1.0
]
],
"intrinsics": {
"fx": 840.3358127170138,
"fy": 841.1146225527108,
"cx": 418.7178548177083,
"cy": 231.04991057981925
}
},
{
"frame_index": 253,
"c2w": [
[
0.9751079678535461,
-0.17129752039909363,
0.1407892405986786,
-0.06779623031616211
],
[
-0.1431676149368286,
-0.9712606072425842,
-0.19014692306518555,
-0.014872481115162373
],
[
0.16931474208831787,
0.1652573198080063,
-0.9716082215309143,
-0.04736004397273064
],
[
0.0,
0.0,
0.0,
1.0
]
],
"intrinsics": {
"fx": 840.3358127170138,
"fy": 841.1146225527108,
"cx": 418.7178548177083,
"cy": 231.04991057981925
}
},
{
"frame_index": 254,
"c2w": [
[
0.9780836701393127,
-0.1586034893989563,
0.13489727675914764,
-0.06118639186024666
],
[
-0.13196465373039246,
-0.9733451008796692,
-0.18757568299770355,
-0.01606065221130848
],
[
0.16105176508426666,
0.16566304862499237,
-0.9729430079460144,
-0.04888936132192612
],
[
0.0,
0.0,
0.0,
1.0
]
],
"intrinsics": {
"fx": 840.3358127170138,
"fy": 841.1146225527108,
"cx": 418.7178548177083,
"cy": 231.04991057981925
}
},
{
"frame_index": 255,
"c2w": [
[
0.9804984927177429,
-0.14723144471645355,
0.13017545640468597,
-0.05410918965935707
],
[
-0.1217232495546341,
-0.9749979376792908,
-0.18590977787971497,
-0.017140762880444527
],
[
0.15429256856441498,
0.16643887758255005,
-0.9739055037498474,
-0.05050501972436905
],
[
0.0,
0.0,
0.0,
1.0
]
],
"intrinsics": {
"fx": 840.3358127170138,
"fy": 841.1146225527108,
"cx": 418.7178548177083,
"cy": 231.04991057981925
}
},
{
"frame_index": 256,
"c2w": [
[
0.9829450249671936,
-0.13582108914852142,
0.12398261576890945,
-0.04685748368501663
],
[
-0.11180974543094635,
-0.9766469597816467,
-0.18346460163593292,
-0.017994046211242676
],
[
0.14600561559200287,
0.1664731651544571,
-0.9751763939857483,
-0.052131447941064835
],
[
0.0,
0.0,
0.0,
1.0
]
],
"intrinsics": {
"fx": 840.3358127170138,
"fy": 841.1146225527108,
"cx": 418.7178548177083,
"cy": 231.04991057981925
}
},
{
"frame_index": 257,
"c2w": [
[
0.9856946468353271,
-0.12404480576515198,
0.11410049349069595,
-0.03904150426387787
],
[
-0.10244768112897873,
-0.9785383343696594,
-0.1787937879562378,
-0.018787454813718796
],
[
0.13383014500141144,
0.16454675793647766,
-0.9772481322288513,
-0.05326920375227928
],
[
0.0,
0.0,
0.0,
1.0
]
],
"intrinsics": {
"fx": 840.3358127170138,
"fy": 841.1146225527108,
"cx": 418.7178548177083,
"cy": 231.04991057981925
}
},
{
"frame_index": 258,
"c2w": [
[
0.986675500869751,
-0.11364147067070007,
0.1164347305893898,
-0.03140321373939514
],
[
-0.09241477400064468,
-0.9804372787475586,
-0.17378784716129303,
-0.019454531371593475
],
[
0.13390645384788513,
0.16071192920207977,
-0.9778756499290466,
-0.05385986343026161
],
[
0.0,
0.0,
0.0,
1.0
]
],
"intrinsics": {
"fx": 840.3358127170138,
"fy": 841.1146225527108,
"cx": 418.7178548177083,
"cy": 231.04991057981925
}
},
{
"frame_index": 259,
"c2w": [
[
0.9881548881530762,
-0.09925258159637451,
0.11704223603010178,
-0.024409553036093712
],
[
-0.07893486320972443,
-0.9827936887741089,
-0.1669904887676239,
-0.020034508779644966
],
[
0.13160261511802673,
0.15577374398708344,
-0.9789868593215942,
-0.054387010633945465
],
[
0.0,
0.0,
0.0,
1.0
]
],
"intrinsics": {
"fx": 840.3358127170138,
"fy": 841.1146225527108,
"cx": 418.7178548177083,
"cy": 231.04991057981925
}
},
{
"frame_index": 260,
"c2w": [
[
0.9893947243690491,
-0.08237086236476898,
0.11963751167058945,
-0.017822371795773506
],
[
-0.06249139457941055,
-0.9849213361740112,
-0.16132204234600067,
-0.020094918087124825
],
[
0.13112176954746246,
0.15213485062122345,
-0.9796234369277954,
-0.05508808046579361
],
[
0.0,
0.0,
0.0,
1.0
]
],
"intrinsics": {
"fx": 840.3358127170138,
"fy": 841.1146225527108,
"cx": 418.7178548177083,
"cy": 231.04991057981925
}
},
{
"frame_index": 261,
"c2w": [
[
0.9905620217323303,
-0.06427470594644547,
0.12106068432331085,
-0.011477823369204998
],
[
-0.04503379389643669,
-0.9868170619010925,
-0.1554477959871292,
-0.020074034109711647
],
[
0.12945611774921417,
0.14852885901927948,
-0.9803979992866516,
-0.05584973841905594
],
[
0.0,
0.0,
0.0,
1.0
]
],
"intrinsics": {
"fx": 840.3358127170138,
"fy": 841.1146225527108,
"cx": 418.7178548177083,
"cy": 231.04991057981925
}
},
{
"frame_index": 262,
"c2w": [
[
0.9916986227035522,
-0.046526551246643066,
0.11987115442752838,
-0.0048756725154817104
],
[
-0.028407711535692215,
-0.988481879234314,
-0.14864929020404816,
-0.02026696875691414
],
[
0.12540659308433533,
0.1440100371837616,
-0.9815978407859802,
-0.05666608735918999
],
[
0.0,
0.0,
0.0,
1.0
]
],
"intrinsics": {
"fx": 840.3358127170138,
"fy": 841.1146225527108,
"cx": 418.7178548177083,
"cy": 231.04991057981925
}
},
{
"frame_index": 263,
"c2w": [
[
0.992324709892273,
-0.02915176935493946,
0.12017407268285751,
0.0012622822541743517
],
[
-0.01175452210009098,
-0.9896517992019653,
-0.1430075317621231,
-0.020372750237584114
],
[
0.12309940904378891,
0.1404973268508911,
-0.9823986291885376,
-0.05759195238351822
],
[
0.0,
0.0,
0.0,
1.0
]
],
"intrinsics": {
"fx": 840.3358127170138,
"fy": 841.1146225527108,
"cx": 418.7178548177083,
"cy": 231.04991057981925
}
},
{
"frame_index": 264,
"c2w": [
[
0.9935625195503235,
-0.010766132734715939,
0.1127726137638092,
0.007248041220009327
],
[
0.005003906786441803,
-0.9903315305709839,
-0.13863059878349304,
-0.020399289205670357
],
[
0.11317478865385056,
0.13830246031284332,
-0.9839023947715759,
-0.05899376422166824
],
[
0.0,
0.0,
0.0,
1.0
]
],
"intrinsics": {
"fx": 840.3358127170138,
"fy": 841.1146225527108,
"cx": 418.7178548177083,
"cy": 231.04991057981925
}
},
{
"frame_index": 265,
"c2w": [
[
0.9945200681686401,
0.006934139411896467,
0.10431540757417679,
0.013270700350403786
],
[
0.021235546097159386,
-0.9903957843780518,
-0.13662059605121613,
-0.020479809492826462
],
[
0.10236619412899017,
0.13808712363243103,
-0.9851157665252686,
-0.060809310525655746
],
[
0.0,
0.0,
0.0,
1.0
]
],
"intrinsics": {
"fx": 840.3358127170138,
"fy": 841.1146225527108,
"cx": 418.7178548177083,
"cy": 231.04991057981925
}
},
{
"frame_index": 266,
"c2w": [
[
0.9946063160896301,
0.0231111329048872,
0.10111429542303085,
0.01860632933676243
],
[
0.03677436709403992,
-0.9901046752929688,
-0.13542671501636505,
-0.020321760326623917
],
[
0.09698387235403061,
0.1384146809577942,
-0.9856142997741699,
-0.06257219612598419
],
[
0.0,
0.0,
0.0,
1.0
]
],
"intrinsics": {
"fx": 840.3358127170138,
"fy": 841.1146225527108,
"cx": 418.7178548177083,
"cy": 231.04991057981925
}
},
{
"frame_index": 267,
"c2w": [
[
0.9947306513786316,
0.03958740457892418,
0.09457164257764816,
0.02357681654393673
],
[
0.05207081884145737,
-0.9896916151046753,
-0.13341331481933594,
-0.020193645730614662
],
[
0.08831527829170227,
0.137634739279747,
-0.9865379333496094,
-0.06410040706396103
],
[
0.0,
0.0,
0.0,
1.0
]
],
"intrinsics": {
"fx": 840.3358127170138,
"fy": 841.1146225527108,
"cx": 418.7178548177083,
"cy": 231.04991057981925
}
},
{
"frame_index": 268,
"c2w": [
[
0.9944173693656921,
0.05587710440158844,
0.08950892090797424,
0.028086436912417412
],
[
0.06725286692380905,
-0.9892849326133728,
-0.12958531081676483,
-0.0202296394854784
],
[
0.08130897581577301,
0.1348816156387329,
-0.9875200390815735,
-0.06487441807985306
],
[
0.0,
0.0,
0.0,
1.0
]
],
"intrinsics": {
"fx": 840.3358127170138,
"fy": 841.1146225527108,
"cx": 418.7178548177083,
"cy": 231.04991057981925
}
},
{
"frame_index": 269,
"c2w": [
[
0.9933075904846191,
0.06907307356595993,
0.09256868064403534,
0.03211569786071777
],
[
0.0804886668920517,
-0.9887753129005432,
-0.12587688863277435,
-0.020303919911384583
],
[
0.08283492177724838,
0.13248519599437714,
-0.9877175688743591,
-0.06537467241287231
],
[
0.0,
0.0,
0.0,
1.0
]
],
"intrinsics": {
"fx": 840.3358127170138,
"fy": 841.1146225527108,
"cx": 418.7178548177083,
"cy": 231.04991057981925
}
},
{
"frame_index": 270,
"c2w": [
[
0.9924195408821106,
0.08235511928796768,
0.09121987223625183,
0.03575240448117256
],
[
0.09328556060791016,
-0.9880271553993225,
-0.12288245558738708,
-0.02042033150792122
],
[
0.08000770956277847,
0.1304604411125183,
-0.9882200360298157,
-0.06586650013923645
],
[
0.0,
0.0,
0.0,
1.0
]
],
"intrinsics": {
"fx": 840.3358127170138,
"fy": 841.1146225527108,
"cx": 418.7178548177083,
"cy": 231.04991057981925
}
},
{
"frame_index": 271,
"c2w": [
[
0.9915289282798767,
0.09481994807720184,
0.08876705914735794,
0.03974996134638786
],
[
0.10510572046041489,
-0.9872609972953796,
-0.1194511130452156,
-0.02061908133327961
],
[
0.07630990445613861,
0.12776915729045868,
-0.9888638854026794,
-0.06601951271295547
],
[
0.0,
0.0,
0.0,
1.0
]
],
"intrinsics": {
"fx": 840.3358127170138,
"fy": 841.1146225527108,
"cx": 418.7178548177083,
"cy": 231.04991057981925
}
},
{
"frame_index": 272,
"c2w": [
[
0.9906910061836243,
0.10303089022636414,
0.08897198736667633,
0.043211497366428375
],
[
0.11311881244182587,
-0.9866706728935242,
-0.11698319017887115,
-0.02099667489528656
],
[
0.07573316991329193,
0.1259586066007614,
-0.989140510559082,
-0.066379114985466
],
[
0.0,
0.0,
0.0,
1.0
]
],
"intrinsics": {
"fx": 840.3358127170138,
"fy": 841.1146225527108,
"cx": 418.7178548177083,
"cy": 231.04991057981925
}
},
{
"frame_index": 273,
"c2w": [
[
0.9901961088180542,
0.11000075936317444,
0.08609027415513992,
0.046382274478673935
],
[
0.11970486491918564,
-0.9858751893043518,
-0.11713594943284988,
-0.021358946338295937
],
[
0.07198922336101532,
0.12629298865795135,
-0.9893773794174194,
-0.06730125099420547
],
[
0.0,
0.0,
0.0,
1.0
]
],
"intrinsics": {
"fx": 840.3358127170138,
"fy": 841.1146225527108,
"cx": 418.7178548177083,
"cy": 231.04991057981925
}
},
{
"frame_index": 274,
"c2w": [
[
0.9897660613059998,
0.1160721406340599,
0.08300874382257462,
0.049591802060604095
],
[
0.12550906836986542,
-0.9848881363868713,
-0.11934332549571991,
-0.0217544287443161
],
[
0.06790189445018768,
0.12854032218456268,
-0.989376962184906,
-0.06873510777950287
],
[
0.0,
0.0,
0.0,
1.0
]
],
"intrinsics": {
"fx": 840.3358127170138,
"fy": 841.1146225527108,
"cx": 418.7178548177083,
"cy": 231.04991057981925
}
},
{
"frame_index": 275,
"c2w": [
[
0.9896374940872192,
0.1210385337471962,
0.07724817097187042,
0.052049797028303146
],
[
0.12978553771972656,
-0.9841790795326233,
-0.12061179429292679,
-0.02219359762966633
],
[
0.06142735853791237,
0.12938764691352844,
-0.9896895885467529,
-0.069789819419384
],
[
0.0,
0.0,
0.0,
1.0
]
],
"intrinsics": {
"fx": 840.3358127170138,
"fy": 841.1146225527108,
"cx": 418.7178548177083,
"cy": 231.04991057981925
}
},
{
"frame_index": 276,
"c2w": [
[
0.9896243214607239,
0.12542125582695007,
0.07009413838386536,
0.053960029035806656
],
[
0.1332528442144394,
-0.98363196849823,
-0.12129256874322891,
-0.022587228566408157
],
[
0.05373416468501091,
0.12937432527542114,
-0.990138828754425,
-0.07051129639148712
],
[
0.0,
0.0,
0.0,
1.0
]
],
"intrinsics": {
"fx": 840.3358127170138,
"fy": 841.1146225527108,
"cx": 418.7178548177083,
"cy": 231.04991057981925
}
},
{
"frame_index": 277,
"c2w": [
[
0.9896296262741089,
0.12809954583644867,
0.06498988717794418,
0.056141771376132965
],
[
0.13524816930294037,
-0.9833723306655884,
-0.12118884921073914,
-0.023086339235305786
],
[
0.04838502034544945,
0.12872183322906494,
-0.9904996752738953,
-0.07019917666912079
],
[
0.0,
0.0,
0.0,
1.0
]
],
"intrinsics": {
"fx": 840.3358127170138,
"fy": 841.1146225527108,
"cx": 418.7178548177083,
"cy": 231.04991057981925
}
},
{
"frame_index": 278,
"c2w": [
[
0.9897802472114563,
0.13175933063030243,
0.054539427161216736,
0.057142775505781174
],
[
0.13752898573875427,
-0.9830973744392395,
-0.12085246294736862,
-0.023425498977303505
],
[
0.03769412636756897,
0.12711814045906067,
-0.9911710619926453,
-0.07008523494005203
],
[
0.0,
0.0,
0.0,
1.0
]
],
"intrinsics": {
"fx": 840.3358127170138,
"fy": 841.1146225527108,
"cx": 418.7178548177083,
"cy": 231.04991057981925
}
},
{
"frame_index": 279,
"c2w": [
[
0.9897433519363403,
0.13569997251033783,
0.04464965686202049,
0.05730048939585686
],
[
0.14011725783348083,
-0.9830455183982849,
-0.11827351152896881,
-0.02371601201593876
],
[
0.02784293331205845,
0.12331660836935043,
-0.9919766783714294,
-0.06939639896154404
],
[
0.0,
0.0,
0.0,
1.0
]
],
"intrinsics": {
"fx": 840.3358127170138,
"fy": 841.1146225527108,
"cx": 418.7178548177083,
"cy": 231.04991057981925
}
},
{
"frame_index": 280,
"c2w": [
[
0.9892199635505676,
0.13839054107666016,
0.04787435755133629,
0.05699740722775459
],
[
0.14303074777126312,
-0.9832208156585693,
-0.11322131752967834,
-0.023965593427419662
],
[
0.03140230476856232,
0.1188482865691185,
-0.992415726184845,
-0.06763912737369537
],
[
0.0,
0.0,
0.0,
1.0
]
],
"intrinsics": {
"fx": 840.3358127170138,
"fy": 841.1146225527108,
"cx": 418.7178548177083,
"cy": 231.04991057981925
}
},
{
"frame_index": 281,
"c2w": [
[
0.9884321093559265,
0.14431798458099365,
0.046629488468170166,
0.055300500243902206
],
[
0.14865581691265106,
-0.9828317761421204,
-0.10928443819284439,
-0.024035433307290077
],
[
0.030057232826948166,
0.11495199054479599,
-0.9929162263870239,
-0.06643227487802505
],
[
0.0,
0.0,
0.0,
1.0
]
],
"intrinsics": {
"fx": 840.3358127170138,
"fy": 841.1146225527108,
"cx": 418.7178548177083,
"cy": 231.04991057981925
}
},
{
"frame_index": 282,
"c2w": [
[
0.9875786900520325,
0.15093086659908295,
0.04368333891034126,
0.05305182561278343
],
[
0.15482306480407715,
-0.9821627140045166,
-0.10670624673366547,
-0.024153025820851326
],
[
0.026798881590366364,
0.11214400082826614,
-0.9933305382728577,
-0.06536606699228287
],
[
0.0,
0.0,
0.0,
1.0
]
],
"intrinsics": {
"fx": 840.3358127170138,
"fy": 841.1146225527108,
"cx": 418.7178548177083,
"cy": 231.04991057981925
}
},
{
"frame_index": 283,
"c2w": [
[
0.9867232441902161,
0.15661829710006714,
0.04298798739910126,
0.05122077837586403
],
[
0.1603095978498459,
-0.981659471988678,
-0.10317689180374146,
-0.02448754385113716
],
[
0.026040175929665565,
0.10869842767715454,
-0.9937336444854736,
-0.06454463303089142
],
[
0.0,
0.0,
0.0,
1.0
]
],
"intrinsics": {
"fx": 840.3358127170138,
"fy": 841.1146225527108,
"cx": 418.7178548177083,
"cy": 231.04991057981925
}
},
{
"frame_index": 284,
"c2w": [
[
0.9857910871505737,
0.16270579397678375,
0.04174567386507988,
0.048761047422885895
],
[
0.1661551147699356,
-0.9810051918029785,
-0.10010642558336258,
-0.02488170564174652
],
[
0.024664826691150665,
0.10562028735876083,
-0.9941005706787109,
-0.063651442527771
],
[
0.0,
0.0,
0.0,
1.0
]
],
"intrinsics": {
"fx": 840.3358127170138,
"fy": 841.1146225527108,
"cx": 418.7178548177083,
"cy": 231.04991057981925
}
},
{
"frame_index": 285,
"c2w": [
[
0.9849175214767456,
0.1682659536600113,
0.04029974341392517,
0.04631153866648674
],
[
0.1714908480644226,
-0.9802825450897217,
-0.09816814959049225,
-0.025330131873488426
],
[
0.022986777126789093,
0.10359856486320496,
-0.9943535327911377,
-0.06296225637197495
],
[
0.0,
0.0,
0.0,
1.0
]
],
"intrinsics": {
"fx": 840.3358127170138,
"fy": 841.1146225527108,
"cx": 418.7178548177083,
"cy": 231.04991057981925
}
},
{
"frame_index": 286,
"c2w": [
[
0.9842163920402527,
0.17280545830726624,
0.0381629504263401,
0.044749919325113297
],
[
0.17576098442077637,
-0.97965407371521,
-0.09688124060630798,
-0.025682486593723297
],
[
0.020644882693886757,
0.10205966234207153,
-0.9945640563964844,
-0.06259134411811829
],
[
0.0,
0.0,
0.0,
1.0
]
],
"intrinsics": {
"fx": 840.3358127170138,
"fy": 841.1146225527108,
"cx": 418.7178548177083,
"cy": 231.04991057981925
}
},
{
"frame_index": 287,
"c2w": [
[
0.9837350845336914,
0.17626337707042694,
0.03459078073501587,
0.04298856481909752
],
[
0.17881762981414795,
-0.9792238473892212,
-0.09562910348176956,
-0.026162154972553253
],
[
0.017016207799315453,
0.10025914013385773,
-0.9948158264160156,
-0.06207131966948509
],
[
0.0,
0.0,
0.0,
1.0
]
],
"intrinsics": {
"fx": 840.3358127170138,
"fy": 841.1146225527108,
"cx": 418.7178548177083,
"cy": 231.04991057981925
}
},
{
"frame_index": 288,
"c2w": [
[
0.9834206700325012,
0.17866341769695282,
0.03103545866906643,
0.04141945764422417
],
[
0.1808447539806366,
-0.978897213935852,
-0.09516017138957977,
-0.02660002000629902
],
[
0.013378881849348545,
0.09919507801532745,
-0.9949780702590942,
-0.06158887594938278
],
[
0.0,
0.0,
0.0,
1.0
]
],
"intrinsics": {
"fx": 840.3358127170138,
"fy": 841.1146225527108,
"cx": 418.7178548177083,
"cy": 231.04991057981925
}
},
{
"frame_index": 289,
"c2w": [
[
0.9832949042320251,
0.18015623092651367,
0.025978565216064453,
0.04054250940680504
],
[
0.18183259665966034,
-0.9786971211433411,
-0.09533572942018509,
-0.026657728478312492
],
[
0.00824982114136219,
0.0984668880701065,
-0.9951061606407166,
-0.06105174869298935
],
[
0.0,
0.0,
0.0,
1.0
]
],
"intrinsics": {
"fx": 840.3358127170138,
"fy": 841.1146225527108,
"cx": 418.7178548177083,
"cy": 231.04991057981925
}
},
{
"frame_index": 290,
"c2w": [
[
0.9833357930183411,
0.18046537041664124,
0.021975649520754814,
0.039584580808877945
],
[
0.18174436688423157,
-0.978783130645752,
-0.09461783617734909,
-0.0268559493124485
],
[
0.004434152971953154,
0.09703505784273148,
-0.9952710866928101,
-0.060332994908094406
],
[
0.0,
0.0,
0.0,
1.0
]
],
"intrinsics": {
"fx": 840.3358127170138,
"fy": 841.1146225527108,
"cx": 418.7178548177083,
"cy": 231.04991057981925
}
},
{
"frame_index": 291,
"c2w": [
[
0.9835355877876282,
0.1798628270626068,
0.01752507872879505,
0.038893964141607285
],
[
0.18071365356445312,
-0.979206919670105,
-0.09217578917741776,
-0.02709590643644333
],
[
0.000581681786570698,
0.09382519125938416,
-0.9955885410308838,
-0.05928432568907738
],
[
0.0,
0.0,
0.0,
1.0
]
],
"intrinsics": {
"fx": 840.3358127170138,
"fy": 841.1146225527108,
"cx": 418.7178548177083,
"cy": 231.04991057981925
}
},
{
"frame_index": 292,
"c2w": [
[
0.9838632345199585,
0.17837625741958618,
0.013964810408651829,
0.03836076334118843
],
[
0.17890627682209015,
-0.9797387719154358,
-0.0900246873497963,
-0.027175890281796455
],
[
-0.002376399701461196,
0.09107036888599396,
-0.9958416223526001,
-0.05815280228853226
],
[
0.0,
0.0,
0.0,
1.0
]
],
"intrinsics": {
"fx": 840.3358127170138,
"fy": 841.1146225527108,
"cx": 418.7178548177083,
"cy": 231.04991057981925
}
},
{
"frame_index": 293,
"c2w": [
[
0.9840217232704163,
0.17788539826869965,
0.007614912465214729,
0.03784257546067238
],
[
0.1778530776500702,
-0.980040967464447,
-0.08881435543298721,
-0.027259303256869316
],
[
-0.00833585113286972,
0.08874959498643875,
-0.9960190653800964,
-0.05724797397851944
],
[
0.0,
0.0,
0.0,
1.0
]
],
"intrinsics": {
"fx": 840.3358127170138,
"fy": 841.1146225527108,
"cx": 418.7178548177083,
"cy": 231.04991057981925
}
},
{
"frame_index": 294,
"c2w": [
[
0.9842488169670105,
0.17666535079479218,
0.006605528295040131,
0.037225935608148575
],
[
0.17655713856220245,
-0.9803605675697327,
-0.08786772936582565,
-0.027264242991805077
],
[
-0.009047383442521095,
0.08764996379613876,
-0.9961102604866028,
-0.05657162517309189
],
[
0.0,
0.0,
0.0,
1.0
]
],
"intrinsics": {
"fx": 840.3358127170138,
"fy": 841.1146225527108,
"cx": 418.7178548177083,
"cy": 231.04991057981925
}
},
{
"frame_index": 295,
"c2w": [
[
0.9842877984046936,
0.1764984279870987,
0.005082783754914999,
0.03641914203763008
],
[
0.17625309526920319,
-0.9803768992424011,
-0.0882948711514473,
-0.02703128382563591
],
[
-0.01060086116194725,
0.087803415954113,
-0.9960814118385315,
-0.05636688694357872
],
[
0.0,
0.0,
0.0,
1.0
]
],
"intrinsics": {
"fx": 840.3358127170138,
"fy": 841.1146225527108,
"cx": 418.7178548177083,
"cy": 231.04991057981925
}
},
{
"frame_index": 296,
"c2w": [
[
0.984131932258606,
0.17742863297462463,
0.0018395098159089684,
0.03546677902340889
],
[
0.17687900364398956,
-0.9801554679870605,
-0.08949332684278488,
-0.02684147097170353
],
[
-0.014075673185288906,
0.08839861303567886,
-0.995985746383667,
-0.05638841539621353
],
[
0.0,
0.0,
0.0,
1.0
]
],
"intrinsics": {
"fx": 840.3358127170138,
"fy": 841.1146225527108,
"cx": 418.7178548177083,
"cy": 231.04991057981925
}
},
{
"frame_index": 297,
"c2w": [
[
0.9840111136436462,
0.17807170748710632,
0.003548908745869994,
0.03420242294669151
],
[
0.1776564121246338,
-0.9799099564552307,
-0.09063512831926346,
-0.026640502735972404
],
[
-0.012661940418183804,
0.08981645852327347,
-0.9958778619766235,
-0.056545190513134
],
[
0.0,
0.0,
0.0,
1.0
]
],
"intrinsics": {
"fx": 840.3358127170138,
"fy": 841.1146225527108,
"cx": 418.7178548177083,
"cy": 231.04991057981925
}
},
{
"frame_index": 298,
"c2w": [
[
0.9836955070495605,
0.1797884702682495,
0.0043875677511096,
0.03285742178559303
],
[
0.17944122850894928,
-0.9795834422111511,
-0.09064843505620956,
-0.026393795385956764
],
[
-0.011999554932117462,
0.08995777368545532,
-0.9958732724189758,
-0.05637320131063461
],
[
0.0,
0.0,
0.0,
1.0
]
],
"intrinsics": {
"fx": 840.3358127170138,
"fy": 841.1146225527108,
"cx": 418.7178548177083,
"cy": 231.04991057981925
}
},
{
"frame_index": 299,
"c2w": [
[
0.9833999872207642,
0.18128038942813873,
0.007869331166148186,
0.03110639564692974
],
[
0.18125487864017487,
-0.9793957471847534,
-0.08905389159917831,
-0.026476329192519188
],
[
-0.00843653455376625,
0.08900194615125656,
-0.9959957003593445,
-0.05597338825464249
],
[
0.0,
0.0,
0.0,
1.0
]
],
"intrinsics": {
"fx": 840.3358127170138,
"fy": 841.1146225527108,
"cx": 418.7178548177083,
"cy": 231.04991057981925
}
},
{
"frame_index": 300,
"c2w": [
[
0.9829068183898926,
0.1838202029466629,
0.010214211419224739,
0.028978049755096436
],
[
0.18400625884532928,
-0.9790675640106201,
-0.08699622750282288,
-0.02674231305718422
],
[
-0.005991261452436447,
0.08738866448402405,
-0.9961562752723694,
-0.05527334287762642
],
[
0.0,
0.0,
0.0,
1.0
]
],
"intrinsics": {
"fx": 840.3358127170138,
"fy": 841.1146225527108,
"cx": 418.7178548177083,
"cy": 231.04991057981925
}
},
{
"frame_index": 301,
"c2w": [
[
0.9824690222740173,
0.18610993027687073,
0.010850413702428341,
0.02672661654651165
],
[
0.18635395169258118,
-0.9788071513175964,
-0.08490461111068726,
-0.027113644406199455
],
[
-0.005181128159165382,
0.08543816208839417,
-0.9963300228118896,
-0.05420129746198654
],
[
0.0,
0.0,
0.0,
1.0
]
],
"intrinsics": {
"fx": 840.3358127170138,
"fy": 841.1146225527108,
"cx": 418.7178548177083,
"cy": 231.04991057981925
}
},
{
"frame_index": 302,
"c2w": [
[
0.9821605086326599,
0.18766021728515625,
0.012015622109174728,
0.024222513660788536
],
[
0.18800407648086548,
-0.9786176681518555,
-0.08343807607889175,
-0.027439391240477562
],
[
-0.0038993079215288162,
0.08420857042074203,
-0.9964405298233032,
-0.05347125977277756
],
[
0.0,
0.0,
0.0,
1.0
]
],
"intrinsics": {
"fx": 840.3358127170138,
"fy": 841.1146225527108,
"cx": 418.7178548177083,
"cy": 231.04991057981925
}
}
]
}